Encoding Device, Decoding Device, Encoding Method, and Decoding Method

This is a continuation application of PCT International Application No. PCT/JP2024/014562 filed on Apr. 10, 2024, designating the United States of America, which is based on and claims priority of U.S. Provisional Patent Application No. 63/459,016 filed on Apr. 13, 2023 and U.S. Provisional Patent Application No. 63/465,081 filed on May 9, 2023. The entire disclosures of the above-identified applications, including the specifications, drawings and claims are incorporated herein by reference in their entirety.

The present disclosure relates to, for example, an encoding device.

PTL 1 proposes a method and a device for encoding and decoding three-dimensional mesh data.

Japanese Unexamined Patent Application Publication No. 2006-187015

There are demands for further improvement in processing of encoding or decoding three-dimensional data. An object of the present disclosure is to improve processing of encoding or decoding three-dimensional data.

An encoding device according to one aspect of the present disclosure is an encoding device including memory and a circuit accessible to the memory. In operation, the circuit encodes, for each of vertices included in a three-dimensional mesh, displacement data to be used to derive a displacement vector, the displacement vector indicating a displacement from a first position of a vertex generated using a base mesh, and the vertices include a first vertex, a second vertex, and a third vertex, and the displacement data of the first vertex indicates a difference between the displacement vector of the first vertex and a combined vector of the displacement vector of the second vertex and the displacement vector of the third vertex.

Noted that these general or specific aspects may be implemented using a system, a device, a method, an integrated circuit, a computer program, or a non-transitory computer-readable recording medium such as a CD-ROM, or any combination of systems, devices, methods, integrated circuits, computer programs, and recording media.

The present disclosure can contribute toward improving processing of encoding three-dimensional data and the like.

Three-dimensional (3D) meshes are used in, for example, a computer graphics video. For example, the computer graphics video may include a plurality of frames different in time from one another, and each of the frames may be represented in the form of three-dimensional meshes.

The three-dimensional meshes each include vertex information indicating the positions of a plurality of vertices in a three-dimensional space, connection information indicating the connections between the plurality of vertices, and attribute information indicating attributes of the vertices or faces. The faces are each built in accordance with the connectivity relation among the plurality of vertices. Such three-dimensional meshes can represent various computer graphics videos.

For the transmission and storage of three-dimensional meshes, an efficient encoding and decoding of three-dimensional meshes is expected. For the efficient encoding and decoding of three-dimensional meshes, arithmetic encoding and arithmetic decoding may be used.

There is a demand for further improvement in an encoding or decoding process related to three-dimensional data. An object of the present disclosure is to improve the encoding or decoding process related to three-dimensional data.

Hereinafter, aspects of the invention derived from the content of the disclosure of the present description will be described by way of example, and the effects and the like derived from the aspect of the invention will be described.

(1) An encoding device including: memory; and a circuit accessible to the memory, in which, in operation, the circuit encodes, for each of vertices included in a three-dimensional mesh, displacement data to be used to derive a displacement vector, the displacement vector indicating a displacement from a first position of a vertex generated using a base mesh, and the vertices include a first vertex, a second vertex, and a third vertex, and the displacement data of the first vertex indicates a difference between the displacement vector of the first vertex and a combined vector of the displacement vector of the second vertex and the displacement vector of the third vertex.

According to this aspect, the encoding device can reduce the amount of information in the displacement data on the first vertex in some cases since the displacement data on the first vertex indicates the difference between the displacement vector of the first vertex and the resultant vector of the displacement vector of the second vertex and the displacement vector of the third vertex. As a result, the encoding device can contribute to a reduction in the amount of encoded information, thus enhancing the efficiency of the encoding or decoding process in some cases. As seen from the above, the encoding device is capable of improving an encoding or decoding process related to three-dimensional data.

(2) The encoding device according to (1), in which the circuit generates the combined vector by equally weighting and combining the displacement vector of the second vertex and the displacement vector of the third vertex, and encodes the displacement data of the first vertex using the combined vector generated.

According to this aspect, the encoding device adds the displacement vector of the second vertex and the displacement vector of the third vertex with the equal weights. The encoding device can thus generate the resultant vector through an easier computing process, contributing to a reduction in a processing load or a power consumption. As a result, the encoding device can improve an encoding or decoding process related to three-dimensional data.

(3) The encoding device according to (1), in which the circuit generates the combined vector by differently weighting and combining the displacement vector of the second vertex and the displacement vector of the third vertex, and encodes the displacement data of the first vertex using the combined vector generated.

According to this aspect, the encoding device can generate the resultant vector more appropriately in some cases by adding the displacement vector of the second vertex and the displacement vector of the third vertex with the different weights. For example, the weights for the displacement vector of the second vertex and the displacement vector of the third vertex can be appropriately set according to parameters of the encoding process. In this case, the resultant vector may be appropriately generated according to the parameters of the encoding process. This can contribute to an improvement in the encoding or decoding process. As a result, the encoding device can improve an encoding or decoding process related to three-dimensional data.

(4) The encoding device according to (1), in which the combined vector is generated by weighting and combining displacement vectors including the displacement vector of the second vertex and the displacement vector of the third vertex, and a sum of weighting factors is 1.

According to this aspect, the encoding device can reduce the amount of information in displacement data on a first vertex more easily in some cases by using a reference point that is set on the segment connecting the second vertex and the third vertex. As a result, the encoding device can improve an encoding or decoding process related to three-dimensional data.

(5) The encoding device according to (1), in which the combined vector is generated by weighting and combining displacement vectors including the displacement vector of the second vertex and the displacement vector of the third vertex, and a sum of weighting factors is not 1.

According to this aspect, the encoding device can reduce the amount of information in displacement data on a first vertex in some cases by using a reference point that is set at a position not on the segment connecting the second vertex and the third vertex. As a result, the encoding device can improve an encoding or decoding process related to three-dimensional data.

(6) A decoding device including: memory; and a circuit accessible to the memory, in which, in operation, the circuit decodes, for each of vertices included in a three-dimensional mesh, displacement data to be used to derive a displacement vector, the displacement vector indicating a displacement from a first position of a vertex generated using a base mesh, the vertices including a first vertex, a second vertex, and a third vertex, and the circuit generates the displacement vector of the first vertex using the displacement data of the first vertex and a combined vector of the displacement vector of the second vertex and the displacement vector of the third vertex.

According to this aspect, the decoding device can reduce the amount of information in the displacement data on the first vertex in some cases since the displacement data on the first vertex indicates the difference between the displacement vector of the first vertex and the resultant vector of the displacement vector of the second vertex and the displacement vector of the third vertex. As a result, the decoding device can contribute to a reduction in the amount of encoded information, thus enhancing the efficiency of the encoding or decoding process in some cases. As seen from the above, the encoding device is capable of improving an encoding or decoding process related to three-dimensional data.

(7) The decoding device according to (6), in which the circuit generates the combined vector by equally weighting and combining the displacement vector of the second vertex and the displacement vector of the third vertex, and decodes the displacement data of the first vertex using the combined vector generated.

According to this aspect, the decoding device adds the displacement vector of the second vertex and the displacement vector of the third vertex with the equal weights. The decoding device can thus generate the resultant vector through an easier computing process, contributing to a reduction in a processing load or a power consumption. As a result, the decoding device can improve an encoding or decoding process related to three-dimensional data.

(8) The decoding device according to (6), in which the circuit generates the combined vector by differently weighting and combining the displacement vector of the second vertex and the displacement vector of the third vertex, and decodes the displacement data of the first vertex using the combined vector generated.

According to this aspect, the decoding device can generate the resultant vector more appropriately in some cases by adding the displacement vector of the second vertex and the displacement vector of the third vertex with the different weights. For example, the weights for the displacement vector of the second vertex and the displacement vector of the third vertex can be appropriately set according to parameters of the encoding process. In this case, the resultant vector may be appropriately generated according to the parameters of the encoding process. This can contribute to an improvement in the encoding or decoding process. As a result, the decoding device can improve an encoding or decoding process related to three-dimensional data.

(9) The decoding device according to (6), in which the combined vector is generated by weighting and combining displacement vectors including the displacement vector of the second vertex and the displacement vector of the third vertex, and a sum of weighting factors is 1.

According to this aspect, the decoding device can reduce the amount of information in displacement data on a first vertex more easily in some cases by using a reference point that is set on the segment connecting the second vertex and the third vertex. As a result, the decoding device can improve an encoding or decoding process related to three-dimensional data.

(10) The decoding device according to (6), in which the combined vector is generated by weighting and combining displacement vectors including the displacement vector of the second vertex and the displacement vector of the third vertex, and a sum of weighting factors is not 1.

According to this aspect, the decoding device can reduce the amount of information in displacement data on a first vertex in some cases by using a reference point that is set at a position not on the segment connecting the second vertex and the third vertex. As a result, the decoding device can improve an encoding or decoding process related to three-dimensional data.

(11) An encoding method including: encoding, for each of vertices (P, Q, R) included in a three-dimensional mesh, displacement data to be used to derive a displacement vector (AP, BQ, YR), the displacement vector indicating a displacement from a first position (A, B, Y) of a vertex generated using a base mesh, in which the vertices include a first vertex (R), a second vertex (P), and a third vertex (Q), and the displacement data of the first vertex indicates a difference between the displacement vector of the first vertex and a combined vector of the displacement vector of the second vertex and the displacement vector of the third vertex.

This aspect produces the same advantageous effects as with the above encoding device.

(12) A decoding method including: decoding, for each of vertices (P, Q, R) included in a three-dimensional mesh, displacement data to be used to derive a displacement vector (AP, BQ, YR), the displacement vector indicating a displacement from a first position (A, B, Y) of a vertex generated using a base mesh, the vertices including a first vertex (R), a second vertex (P), and a third vertex (Q); and generating the displacement vector of the first vertex using the displacement data of the first vertex and a combined vector of the displacement vector of the second vertex and the displacement vector of the third vertex.

This aspect produces the same advantageous effects as with the above decoding device.

Moreover, these general or specific aspects may be implemented using a system, a device, a method, an integrated circuit, a computer program, or a non-transitory computer-readable recording medium such as a CD-ROM, or any combination of systems, devices, methods, integrated circuits, computer programs, and recording media.

The following expressions and terms will be used herein.

A three-dimensional mesh is a set of a plurality of faces and indicates, for example, a three-dimensional object. In addition, a three-dimensional mesh is mainly constituted of vertex information, connection information, and attribute information. A three-dimensional mesh may be expressed as a polygon mesh or a mesh.

In addition, a three-dimensional mesh may have a temporal change. A three-dimensional mesh may include metadata related to vertex information, connection information, and attribute information or other additional information.

Vertex information is information indicating a vertex. For example, vertex information indicates a position of a vertex in a three-dimensional space. In addition, a vertex corresponds to a vertex of a face that constitutes a three-dimensional mesh. Vertex information may be expressed as “geometry”. In addition, vertex information may also be expressed as position information.

Connection information is information indicating a connection between vertexes. For example, connection information indicates a connection for constructing a face or an edge of a three-dimensional mesh. Connection information may be expressed as “connectivity”. In addition, connection information may also be expressed as face information.

Attribute information is information indicating an attribute of a vertex or a face. For example, attribute information indicates an attribute such as a color, an image, a normal vector, and the like associated with a vertex or a face. Attribute information may be expressed as “texture”.

A face is an element that constitutes a three-dimensional mesh. Specifically, a face is a polygon on a plane in a three-dimensional space. For example, a face can be determined as a triangle in the three-dimensional space.

A plane is a two-dimensional plane in a three-dimensional space. For example, a polygon is formed on a plane and a plurality of polygons are formed on a plurality of planes.

A bitstream corresponds to encoded information. A bitstream can also be expressed as a stream, an encoded bitstream, a compressed bitstream, or an encoded signal.

The expression “encode” may be replaced with expressions such as store, include, write, describe, signalize, send out, notify, save, or compress and such expressions may be interchangeably used. For example, encoding information may mean including information in a bitstream. In addition, encoding information in a bitstream may mean encoding the information and generating a bitstream that includes the encoded information.

In addition, the expression “decode” may be replaced with expressions such as read, interpret, scan, load, derive, acquire, receive, extract, restore, reconstruct, decompress, or expand and such expressions may be interchangeably used. For example, decoding information may mean acquiring information from a bitstream. In addition, decoding information from a bitstream may mean decoding the bitstream and acquiring information included in the bitstream.

In the description, an ordinal number such as first, second, or the like may be affixed to a constituent element or the like. Such ordinal numbers may be replaced as necessary. In addition, an ordinal number may be newly affixed to or removed from a constituent element or the like. Furthermore, the ordinal numbers may be affixed to elements in order to identify the elements and may not correspond to any meaningful order.

1 FIG. is a conceptual diagram illustrating a three-dimensional mesh according to the present embodiment. The three-dimensional mesh is constituted of a plurality of faces. For example, each face is a triangle. Vertexes of the triangles are determined in a three-dimensional space. In addition, a three-dimensional mesh indicates a three-dimensional object. Each face may have a color or an image.

2 FIG. is a conceptual diagram illustrating basic elements of a three-dimensional mesh according to the present embodiment. The three-dimensional mesh is constituted of vertex information, connection information, and attribute information. Vertex information indicates a position of a vertex of a face in a three-dimensional space. Connection information indicates a connection between vertexes. A face can be identified based on vertex information and connection information. In other words, an uncolored three-dimensional object is formed in a three-dimensional space based on vertex information and connection information.

Attribute information may be associated with a vertex or associated with a face. Attribute information associated with a vertex may be expressed as “attribute per point”. Attribute information associated with a vertex may indicate an attribute of the vertex itself or indicate an attribute of a face connected to the vertex.

For example, a color may be associated with a vertex as attribute information. The color associated with the vertex may be the color of the vertex or the color of a face connected to the vertex. The color of the face may be an average of a plurality of colors associated with a plurality of vertexes of the face. In addition, a normal vector may be associated with a vertex or a face as attribute information. Such a normal vector can express a front and a rear of a face.

In addition, a two-dimensional image may be associated with a face as attribute information. The two-dimensional image associated with a face is also expressed as a texture image or an “attribute map”. In addition, information indicating mapping between a face and a two-dimensional image may be associated with the face as attribute information. Such information indicating mapping may be expressed as mapping information, vertex information of a texture image, texture coordinates, or an “attribute UV coordinate”.

Furthermore, information on a color, an image, a moving image, and the like to be used as attribute information may be expressed as “parametric space”.

A texture is reflected in a three-dimensional object based on such attribute information. In other words, a colored three-dimensional object is formed in a three-dimensional space based on vertex information, connection information, and attribute information.

Note that while attribute information is associated with a vertex or a face in the description given above, alternatively, attribute information may be associated with an edge.

3 FIG. is a conceptual diagram illustrating mapping according to the present embodiment. For example, a region of a two-dimensional image on a two-dimensional plane can be mapped to a face of a three-dimensional mesh in a three-dimensional space. Specifically, coordinate information of a region in the two-dimensional image is associated with a face of the three-dimensional mesh. Accordingly, an image of the mapped region in the two-dimensional image is reflected in the face of the three-dimensional mesh.

The use of mapping enables a two-dimensional image to be used as attribute information to be separated from the three-dimensional mesh. For example, in encoding of the three-dimensional mesh, the two-dimensional image may be encoded based on an image encoding system or a video encoding system.

4 FIG. 4 FIG. 100 200 is a block diagram illustrating a configuration example of an encoding/decoding system according to the present embodiment. In, the encoding/decoding system includes encoding deviceand decoding device.

100 100 300 For example, encoding deviceacquires a three-dimensional mesh and encodes the three-dimensional mesh into a bitstream. In addition, encoding deviceoutputs the bitstream to network. For example, the bitstream includes an encoded three-dimensional mesh and control information for decoding the encoded three-dimensional mesh. Encoding of the three-dimensional mesh causes information of the three-dimensional mesh to be compressed.

300 100 200 300 300 Networktransmits the bitstream from encoding deviceto decoding device. Networkmay be the Internet, a wide area network (WAN), a local area network (LAN), or a combination thereof. Networkis not necessarily limited to two-way communication and may be a unidirectional communication network for terrestrial digital broadcasting, satellite broadcasting, or the like.

300 In addition, networkmay be replaced with a recording medium such as a DVD (digital versatile disc), a BD (Blu-Ray Disc (registered trademark)), or the like.

200 200 100 100 200 Decoding deviceacquires a bitstream and decodes a three-dimensional mesh from the bitstream. Decoding of the three-dimensional mesh causes information of the three-dimensional mesh to be expanded. For example, decoding devicedecodes a three-dimensional mesh according to a decoding method corresponding to an encoding method used by encoding deviceto encode the three-dimensional mesh. In other words, encoding deviceand decoding deviceperform encoding and decoding according to an encoding method and a decoding method which correspond to each other.

Note that the three-dimensional mesh before encoding can also be expressed as an original three-dimensional mesh. In addition, the three-dimensional mesh after decoding is also expressed as a reconstructed three-dimensional mesh.

5 FIG. 100 100 101 102 103 is a block diagram illustrating a configuration example of encoding deviceaccording to the present embodiment. For example, encoding deviceincludes vertex information encoder, connection information encoder, and attribute information encoder.

101 101 Vertex information encoderis an electric circuit which encodes vertex information. For example, vertex information encoderencodes vertex information into a bitstream according to a format defined with respect to the vertex information.

102 102 Connection information encoderis an electric circuit which encodes connection information. For example, connection information encoderencodes connection information into a bitstream according to a format defined with respect to the connection information.

103 103 Attribute information encoderis an electric circuit which encodes attribute information. For example, attribute information encoderencodes attribute information into a bitstream according to a format defined with respect to the attribute information.

Variable-length coding or fixed length coding may be used for encoding vertex information, connection information, and attribute information. The variable-length coding may accommodate Huffman coding, context-adaptive binary arithmetic coding (CABAC), or the like.

101 102 103 101 102 103 Vertex information encoder, connection information encoder, and attribute information encodermay be integrated. Alternatively, each of vertex information encoder, connection information encoder, and attribute information encodermay be more finely segmentalized into a plurality of constituent elements.

6 FIG. 5 FIG. 100 100 104 105 is a block diagram illustrating another configuration example of encoding deviceaccording to the present embodiment. For example, in addition to the components illustrated in, encoding deviceincludes preprocessorand postprocessor.

104 104 104 Preprocessoris an electric circuit which performs processing before encoding of vertex information, connection information, and attribute information. For example, preprocessormay perform transformation processing, demultiplexing, multiplexing, or the like with respect to a three-dimensional mesh before encoding. More specifically, for example, preprocessormay demultiplex vertex information, connection information, and attribute information from the three-dimensional mesh before encoding.

105 105 105 105 Postprocessoris an electric circuit which performs processing after the encoding of vertex information, connection information, and attribute information. For example, postprocessormay perform transformation processing, demultiplexing, multiplexing, or the like with respect to vertex information, connection information, and attribute information after encoding. More specifically, for example, postprocessormay multiplex vertex information, connection information, and attribute information after encoding into a bitstream. In addition, for example, postprocessormay further perform variable-length coding with respect to vertex information, connection information, and attribute information after the encoding.

7 FIG. 200 200 201 202 203 is a block diagram illustrating a configuration example of decoding deviceaccording to the present embodiment. For example, decoding deviceincludes vertex information decoder, connection information decoder, and attribute information decoder.

201 201 Vertex information decoderis an electric circuit which decodes vertex information. For example, vertex information decoderdecodes vertex information from a bitstream according to a format defined with respect to the vertex information.

202 202 Connection information decoderis an electric circuit which decodes connection information. For example, connection information decoderdecodes connection information from a bitstream according to a format defined with respect to the connection information.

203 203 Attribute information decoderis an electric circuit which decodes attribute information. For example, attribute information decoderdecodes attribute information from a bitstream according to a format defined with respect to the attribute information.

Variable-length decoding or fixed length decoding may be used for decoding vertex information, connection information, and attribute information. The variable-length decoding may accommodate Huffman coding, context-adaptive binary arithmetic coding (CABAC), or the like.

201 202 203 201 202 203 Vertex information decoder, connection information decoder, and attribute information decodermay be integrated. Alternatively, each of vertex information decoder, connection information decoder, and attribute information decodermay be more finely segmentalized into a plurality of constituent elements.

8 FIG. 7 FIG. 200 200 204 205 is a block diagram illustrating another configuration example of decoding deviceaccording to the present embodiment. For example, in addition to the components illustrated in, decoding deviceincludes preprocessorand postprocessor.

204 204 Preprocessoris an electric circuit which performs processing before decoding of vertex information, connection information, and attribute information. For example, preprocessormay perform transformation processing, demultiplexing, multiplexing, or the like with respect to a bitstream before decoding of vertex information, connection information, and attribute information.

204 204 More specifically, for example, preprocessormay demultiplex, from a bitstream, a sub-bitstream corresponding to vertex information, a sub-bitstream corresponding to connection information, and a sub-bitstream corresponding to attribute information. In addition, for example, preprocessormay perform variable-length decoding with respect to the bitstream in advance before decoding of vertex information, connection information, and attribute information.

205 205 Postprocessoris an electric circuit which performs processing after the decoding of vertex information, connection information, and attribute information. For example, postprocessormay perform transformation processing, demultiplexing, multiplexing, or the like with respect to vertex information, connection information, and attribute information after decoding.

205 More specifically, for example, postprocessormay multiplex vertex information, connection information, and attribute information after decoding into a three-dimensional mesh.

Vertex information, connection information, and attribute information are encoded and stored in a bitstream. A relationship between these pieces of information and the bitstream will be described below.

9 FIG. is a conceptual diagram illustrating a configuration example of a bitstream according to the present embodiment. In this example, connection information, vertex information, and attribute information are integrated in the bitstream. For example, connection information, vertex information, and attribute information may be included in one file.

In addition, a plurality of portions of the pieces of information may be sequentially stored such as a first portion of connection information, a first portion of vertex information, a first portion of attribute information, a second portion of connection information, a second portion of vertex information, a second portion of attribute information, . . . . The plurality of portions may correspond to a plurality of temporally different portions, correspond to a plurality of spatially different portions, or correspond to a plurality of different faces.

Furthermore, an order of storage of connection information, vertex information, and attribute information is not limited to the example described above and an order of storage that differs from the above may be used.

10 FIG. is a conceptual diagram illustrating another configuration example of a bitstream according to the present embodiment. In the example, a plurality of files are included in a bitstream and connection information, vertex information, and attribute information are respectively stored in different files. While a file including connection information, a file including vertex information, and a file including attribute information are illustrated here, storage formats are not limited to this example. For example, two types of information among connection information, vertex information, and attribute information may be included in one file and the one remaining type of information may be included in another file.

Alternatively, the pieces of information can be stored by being divided into a larger number of files. For example, a plurality of portions of connection information may be stored in a plurality of files, a plurality of portions of vertex information may be stored in a plurality of files, and a plurality of portions of attribute information may be stored in a plurality of files. The plurality of portions may correspond to a plurality of temporally different portions, correspond to a plurality of spatially different portions, or correspond to a plurality of different faces.

Furthermore, an order of storage of connection information, vertex information, and attribute information is not limited to the example described above and an order of storage that differs from the above may be used.

11 FIG. is a conceptual diagram illustrating another configuration example of a bitstream according to the present embodiment. In the example, a bitstream is constituted of a plurality of separable sub-bitstreams and connection information, vertex information, and attribute information are respectively stored in different sub-bitstreams.

While a sub-bitstream including connection information, a sub-bitstream including vertex information, and a sub-bitstream including attribute information are illustrated here, storage formats are not limited to this example.

For example, two types of information among connection information, vertex information, and attribute information may be included in one sub-bitstream and the one remaining type of information may be included in another sub-bitstream. Specifically, attribute information such as a two-dimensional image may be stored in a sub-bitstream conforming to an image coding system separately from a sub-bitstream of connection n information and vertex information.

9 FIG. 10 FIG. 11 FIG. In addition, each sub-bitstream may include a plurality of files. Furthermore, a plurality of portions of connection information may be stored in a plurality of files, a plurality of portions of vertex information may be stored in a plurality of files, and a plurality of portions of attribute information may be stored in a plurality of files. Furthermore, an order of storage of connection information, vertex information, and attribute information is not limited to the example illustrated in,, and, and an order of storage that differs from this example may be used. For example, vertex information, connection information, and attribute information may be stored in a bitstream in this order. Alternatively, in an order other than this order, e.g., in any of orders: connection information, attribute information, and vertex information; vertex information, attribute information, and connection information; attribute information, connection information, and vertex information; and attribute information, vertex information, and connection information, these pieces of information may be stored in a bitstream.

Furthermore, each of connection information, vertex information, and attribute information may be divided into a plurality of data items, and the plurality of data items may be stored in a bitstream in a periodic order or in a random order.

12 FIG. 12 FIG. 110 210 310 is a block diagram illustrating a specific example of the encoding/decoding system according to the present embodiment. In, the encoding/decoding system includes three-dimensional data encoding system, three-dimensional data decoding system, and external connector.

110 111 112 113 115 114 210 211 212 213 214 215 216 Three-dimensional data encoding systemincludes controller, input/output processor, three-dimensional data encoder, three-dimensional data generator, and system multiplexer. Three-dimensional data decoding systemincludes controller, input/output processor, three-dimensional data decoder, system demultiplexer, presenter, and user interface.

110 115 115 113 In three-dimensional data encoding system, sensor data is input from a sensor terminal to three-dimensional data generator. Three-dimensional data generatorgenerates three-dimensional data that is point cloud data, mesh data, or the like from the sensor data and inputs the three-dimensional data to three-dimensional data encoder.

115 115 115 115 For example, three-dimensional data generatorgenerates vertex information and generates connection information and attribute information which correspond to the vertex information. Three-dimensional data generatormay process vertex information when generating connection information and attribute information. For example, three-dimensional data generatormay reduce a data amount by deleting overlapping vertexes or transform vertex information (position shift, rotation, normalization, or the like). In addition, three-dimensional data generatormay render attribute information.

115 110 115 110 12 FIG. While three-dimensional data generatoris a constituent element of three-dimensional data encoding systemin, three-dimensional data generatormay be disposed on the outside independent of three-dimensional data encoding system.

For example, a sensor terminal that provides sensor data for generating three-dimensional data may be a mobile object such as an automobile, a flying object such as an airplane, a mobile terminal, a camera, or the like. Alternatively, a range sensor such as LIDAR, a millimeter-wave radar, an infrared sensor, or a range finder, a stereo camera, a combination of a plurality of monocular cameras, or the like may be used as the sensor terminal.

The sensor data may be a distance (position) of an object, a monocular camera image, a stereo camera image, a color, a reflectance, an attitude or an orientation of a sensor, a gyro, a sensing position (GPS information or elevation), a velocity, an acceleration, a time of day of sensing, air temperature, air pressure, humidity, magnetism, or the like.

113 100 113 113 113 114 5 FIG. Three-dimensional data encodercorresponds to encoding deviceillustrated inand the like. For example, three-dimensional data encoderencodes three-dimensional data and generates encoded data. In addition, three-dimensional data encodergenerates control information when encoding the three-dimensional data. Furthermore, three-dimensional data encoderinputs the encoded data to system multiplexertogether with the control information.

The encoding system of three-dimensional data may be an encoding system using geometry or an encoding system using a video codec. In this case, an encoding system using geometry may also be expressed as a geometry-based encoding system. An encoding system using a video codec may also be expressed as a video-based encoding system.

114 113 114 114 System multiplexermultiplexes encoded data and control information input from three-dimensional data encoderand generates multiplexed data using a prescribed multiplexing system. System multiplexermay multiplex other media such as video, audio, subtitles, application data, or document files, reference time information, or the like together with the encoded data and control information of three-dimensional data. Furthermore, system multiplexermay multiplex attribute information related to sensor data or three-dimensional data.

For example, multiplexed data has a file format for accumulation, a packet format for transmission, or the like. ISOBMFF or an ISOBMFF-based system may be used as an accumulation system or a transmission system. Alternatively, MPEG-DASH, MMT, MPEG-2 TS Systems, RTP, or the like may be used.

112 310 In addition, multiplexed data is output as a transmission signal by input/output processorto external connector. The multiplexed data may be transmitted as a transmission signal in a wired manner or in a wireless manner. Alternatively, the multiplexed data is accumulated in an internal memory or a storage device. The multiplexed data may be transmitted via the Internet to a cloud server or stored in an external storage device.

For example, the transmission or accumulation of the multiplexed data is performed by a method in accordance with a medium for transmission or accumulation such as broadcasting or communication. As a communication protocol, http, ftp, TCP, UDP, IP, or a combination thereof may be used. In addition, a pull-type communication scheme may be used or a push-type communication scheme may be used.

Ethernet (registered trademark), USB, RS-232C, HDMI (registered trademark), a coaxial cable, or the like may be used for wired transmission. In addition, 3GPP (registered trademark), 3G/4G/5G as specified by IEEE, a wireless LAN, Bluetooth, or a millimeter-wave may be used for wireless transmission. Furthermore, for example, DVB-T2, DVB-S2, DVB-C2, ATSC 3.0, ISDB-S3, or the like may be used as a broadcasting system.

115 114 310 112 110 210 310 Note that sensor data may be input to three-dimensional data generatoror system multiplexer. In addition, three-dimensional data or encoded data may be output as-is as a transmission signal to external connectorvia input/output processor. The transmission signal output from three-dimensional data encoding systemis input to three-dimensional data decoding systemvia external connector.

110 111 In addition, each operation of three-dimensional data encoding systemmay be controlled by controllerwhich executes application programs.

210 212 212 214 214 213 214 In three-dimensional data decoding system, a transmission signal is input to input/output processor. Input/output processordecodes multiplexed data having a file format or a packet format from the transmission signal and inputs the multiplexed data to system demultiplexer. System demultiplexeracquires encoded data and control information from the multiplexed data and inputs the encoded data and the control information to three-dimensional data decoder. System demultiplexermay extract other media, reference time information, or the like from the multiplexed data.

213 200 213 215 7 FIG. Three-dimensional data decodercorresponds to decoding deviceillustrated inand the like. For example, three-dimensional data decoderdecodes three-dimensional data from the encoded data based on an encoding system specified in advance. Subsequently, the three-dimensional data is presented to a user by presenter.

215 215 216 215 In addition, additional information such as sensor data may be input to presenter. Presentermay present three-dimensional data based on the additional information. In addition, an instruction by the user may be input to user interfacefrom a user terminal. Furthermore, presentermay present three-dimensional data based on the input instruction.

212 310 Note that input/output processormay acquire three-dimensional data and encoded data from external connector.

210 211 In addition, each operation of three-dimensional data decoding systemmay be controlled by controllerwhich executes application programs.

13 FIG. is a conceptual diagram illustrating a configuration example of point cloud data according to the present embodiment. Point cloud data refers to data of a point cloud that indicates a three-dimensional object.

Specifically, a point cloud is constituted of a plurality of points and has position information which indicates a three-dimensional coordinate position of each point and attribute information which indicates an attribute of each point. The position information is also expressed as geometry.

For example, a type of attribute information may be a color, a reflectance, or the like. Attribute information related to one type may be associated with one point, attribute information related to a plurality of different types may be associated with one point, or attribute information having a plurality of values with respect to a same type may be associated with one point.

14 FIG. is a conceptual diagram illustrating a data file example of the point cloud data according to the present embodiment. The example is an example of a case where items of position information and items of attribute information have a one-to-one correspondence and the example indicates position information and attribute information of N-number of points which constitute the point cloud data. In this example, position information is information indicating a three-dimensional coordinate position by three axes of x, y, and z and attribute information is information indicating a color by RGB. As a representative data file of point cloud data, a PLY file or the like can be used.

15 FIG. is a conceptual diagram illustrating a configuration example of mesh data according to the present embodiment. Mesh data is data used in CG (computer graphics) or the like and is data of a three-dimensional mesh which represents a three-dimensional shape of an object by a plurality of faces. Each face is also expressed as a polygon and has a polygonal shape such as a triangle or a quadrilateral.

Specifically, in addition to the plurality of points which constitute a point cloud, a three-dimensional mesh is constituted of a plurality of edges and a plurality of faces. Each point is also expressed as a vertex or a position. Each edge corresponds to a line segment which connects two vertexes. Each face corresponds to an area enclosed by three or more edges.

In addition, a three-dimensional mesh has position information indicating three-dimensional coordinate positions of vertexes. The position information is also expressed as vertex information or geometry. Furthermore, a three-dimensional mesh has connection information indicating a relationship among a plurality of vertexes constituting an edge or a face. The connection information is also expressed as connectivity. In addition, a three-dimensional mesh has attribute information indicating an attribute with respect to a vertex, an edge, or a face. The attribute information in a three-dimensional mesh is also expressed as a texture.

For example, attribute information may indicate a color, a reflectance, or a normal vector with respect to a vertex, an edge, or a face. An orientation of a normal vector can express a front and a rear of a face.

An object file or the like may be used as a data file format of mesh data.

16 FIG. 1 1 1 1 2 1 2 is a conceptual diagram illustrating a data file example of the mesh data according to the present embodiment. In the example, a data file includes pieces of position information G() to G(N) and pieces of attribute information A() to A(N) of N-number of vertexes which constitute a three-dimensional mesh. In addition, in the example, M-number of pieces of attribute information A() to A(M) are included. An item of attribute information need not correspond one-to-one to a vertex and need not correspond one-to-one to a face. In addition, attribute information need not exist.

Connection information is indicated by a combination of indexes of vertexes. n [1, 3, 4] indicates a face of a triangle constituted of three vertexes n=1, n=3, and n=4. In addition, m [2, 4, 6] indicates that pieces of attribute information m=2, m=4, and M=6 respectively correspond to the three vertexes.

2 1 2 In addition, a substantive content of the attribute information may be described in a separate file. Furthermore, a pointer with respect to the content may be associated with a vertex, a face, or the like. For example, attribute information indicating an image with respect to a face may be stored in a two-dimensional attribute map file. In addition, a file name of the attribute map and a two-dimensional coordinate value in the attribute map may be described in pieces of attribute information A() to A(M). Methods of designating attribute information with respect to a face are not limited to these methods and any kind of method may be used.

17 FIG. is a conceptual diagram illustrating a type of three-dimensional data according to the present embodiment. Point cloud data and mesh data may either indicate a static object or a dynamic object. A static object is an object that does not temporally change and a dynamic object is an object that temporally changes. A static object may correspond to three-dimensional data with respect to an arbitrary time point.

For example, point cloud data with respect to an arbitrary time point may be expressed as a PCC frame. In addition, mesh data with respect to an arbitrary time point may be expressed as a mesh frame. Furthermore, a PCC frame and a mesh frame may be simply expressed as a frame.

In addition, an area of an object may be limited to a certain range in a similar manner to ordinary video data or need not be limited in a similar manner to map data. Furthermore, a density of points or faces may be set in various ways. Sparse point cloud data or sparse mesh data may be used or dense point cloud data or dense mesh data may be used.

Next, encoding and decoding of a point cloud or a three-dimensional mesh will be described. A device, processing, or a syntax for encoding and decoding vertex information of a three-dimensional mesh according to the present disclosure may be applied to the encoding and decoding of a point cloud. A device, processing, or a syntax for encoding and decoding a point cloud according to the present disclosure may be applied to the encoding and decoding of vertex information of a three-dimensional mesh.

In addition, a device, processing, or a syntax for encoding and decoding attribute information of a point cloud according to the present disclosure may be applied to the encoding and decoding of connection information or attribute information of a three-dimensional mesh. Furthermore, a device, processing, or a syntax for encoding and decoding connection information or attribute information of a three-dimensional mesh according to the present disclosure may be applied to the encoding and decoding of attribute information of a point cloud.

Furthermore, at least a part of processing may be commonalized between the encoding and decoding of point cloud data and the encoding and decoding of mesh data. Accordingly, sizes of circuits and software programs can be suppressed.

18 FIG. 6 FIG. 113 113 121 122 123 124 121 122 124 101 103 105 is a block diagram illustrating a configuration example of three-dimensional data encoderaccording to the present embodiment. In this example, three-dimensional data encoderincludes vertex information encoder, attribute information encoder, metadata encoder, and multiplexer. Vertex information encoder, attribute information encoder, and multiplexermay correspond to vertex information encoder, attribute information encoder, postprocessor, and the like illustrated in.

113 In addition, in this example, three-dimensional data encoderencodes three-dimensional data according to a geometry-based encoding system. Encoding according to the geometry-based encoding system takes a three-dimensional structure into consideration. Furthermore, in encoding according to the geometry-based encoding system, attribute information is encoded using configuration information obtained during encoding of vertex information.

121 122 123 Specifically, first, vertex information, attribute information, and metadata included in three-dimensional data generated from sensor data are respectively input to vertex information encoder, attribute information encoder, and metadata encoder. In this case, connection information included in three-dimensional data may be handled in a similar manner to attribute information. In addition, in the case of point cloud data, position information may be handled as vertex information.

121 124 121 124 121 122 Vertex information encoderencodes vertex information into compressed vertex information and outputs the compressed vertex information to multiplexeras encoded data. In addition, vertex information encodergenerates metadata of the compressed vertex information and outputs the metadata to multiplexer. Furthermore, vertex information encodergenerates configuration information and outputs the configuration information to attribute information encoder.

122 121 124 122 124 Attribute information encoderencodes attribute information into compressed attribute information using the configuration information generated by vertex information encoderand outputs the compressed attribute information to multiplexeras encoded data. In addition, attribute information encodergenerates metadata of the compressed attribute information and outputs the metadata to multiplexer.

123 124 123 Metadata encoderencodes compressible metadata into compressed metadata and outputs the compressed metadata to multiplexeras encoded data. The metadata encoded by metadata encodermay be used to encode vertex information and to encode attribute information.

124 124 Multiplexermultiplexes the compressed vertex information, the metadata of the compressed vertex information, the compressed attribute information, the metadata of the compressed attribute information, and the compressed metadata into a bitstream. In addition, multiplexerinputs the bitstream into a system layer.

19 FIG. 8 FIG. 213 213 221 222 223 224 221 222 224 201 203 204 is a block diagram illustrating a configuration example of three-dimensional data decoderaccording to the present embodiment. In this example, three-dimensional data decoderincludes vertex information decoder, attribute information decoder, metadata decoder, and demultiplexer. Vertex information decoder, attribute information decoder, and demultiplexermay correspond to vertex information decoder, attribute information decoder, preprocessor, and the like illustrated in.

213 In addition, in this example, three-dimensional data decoderdecodes three-dimensional data according to a geometry-based encoding system. Decoding according to the geometry-based encoding system takes a three-dimensional structure into consideration. Furthermore, in decoding according to the geometry-based encoding system, attribute information is decoded using configuration information obtained during decoding of vertex information.

224 224 221 222 223 Specifically, first, a bitstream is input from a system layer into demultiplexer. Demultiplexerseparates compressed vertex information, metadata of the compressed vertex information, compressed attribute information, metadata of the compressed attribute information, and compressed metadata from the bitstream. The compressed vertex information and the metadata of the compressed vertex information are input to vertex information decoder. The compressed attribute information and the metadata of the compressed attribute information are input to attribute information decoder. The metadata is input to metadata decoder.

221 221 222 222 221 223 223 Vertex information decoderdecodes vertex information from the compressed vertex information using the metadata of the compressed vertex information. In addition, vertex information decodergenerates configuration information and outputs the configuration information to attribute information decoder. Attribute information decoderdecodes attribute information from the compressed attribute information using the configuration information generated by vertex information decoderand the metadata of the compressed attribute information. Metadata decoderdecodes metadata from the compressed metadata. The metadata decoded by metadata decodermay be used to decode vertex information and to decode attribute information.

213 Subsequently, the vertex information, the attribute information, and the metadata are output from three-dimensional data decoderas three-dimensional data. For example, the metadata is metadata of vertex information and attribute information and can be used in an application program.

20 FIG. 6 FIG. 113 113 131 132 133 134 123 124 131 132 134 101 103 is a block diagram illustrating another configuration example of three-dimensional data encoderaccording to the present embodiment. In this example, three-dimensional data encoderincludes vertex image generator, attribute image generator, metadata generator, video encoder, metadata encoder, and multiplexer. Vertex image generator, attribute image generator, and video encodermay correspond to vertex information encoder, attribute information encoder, and the like illustrated in.

113 In addition, in this example, three-dimensional data encoderencodes three-dimensional data according to a video-based encoding system. In encoding according to the video-based encoding system, a plurality of two-dimensional images are generated from three-dimensional data and the plurality of two-dimensional images are encoded according to a video encoding system. In this case, the video encoding system may be HEVC (high efficiency video coding), VVC (versatile video coding), or the like.

133 131 132 123 Specifically, first, vertex information and attribute information included in three-dimensional data generated from sensor data are input to metadata generator. In addition, the vertex information and the attribute information are respectively input to vertex image generatorand attribute image generator. Furthermore, the metadata included in the three-dimensional data is input to metadata encoder. In this case, connection information included in three-dimensional data may be handled in a similar manner to attribute information. In addition, in the case of point cloud data, position information may be handled as vertex information.

133 133 131 132 123 Metadata generatorgenerates map information of a plurality of two-dimensional images from the vertex information and the attribute information. In addition, metadata generatorinputs the map information into vertex image generator, attribute image generator, and metadata encoder.

131 134 132 134 Vertex image generatorgenerates a vertex image based on the vertex information and the map information and inputs the vertex image into video encoder. Attribute image generatorgenerates an attribute image based on the attribute information and the map information and inputs the attribute image into video encoder.

134 124 134 124 Video encoderrespectively encodes the vertex image and the attribute image into compressed vertex information and compressed attribute information according to the video encoding system and outputs the compressed vertex information and the compressed attribute information to multiplexeras encoded data. In addition, video encodergenerates metadata of the compressed vertex information and metadata of the compressed attribute information and outputs the pieces of metadata to multiplexer.

123 124 123 Metadata encoderencodes compressible metadata into compressed metadata and outputs the compressed metadata to multiplexeras encoded data. Compressible metadata includes map information. In addition, the metadata encoded by metadata encodermay be used to encode vertex information and to encode attribute information.

124 124 Multiplexermultiplexes the compressed vertex information, the metadata of the compressed vertex information, the compressed attribute information, the metadata of the compressed attribute information, and the compressed metadata into a bitstream. In addition, multiplexerinputs the bitstream into a system layer.

21 FIG. 8 FIG. 213 213 231 232 234 223 224 231 232 234 201 203 is a block diagram illustrating another configuration example of three-dimensional data decoderaccording to the present embodiment. In this example, three-dimensional data decoderincludes vertex information generator, attribute information generator, video decoder, metadata decoder, and demultiplexer. Vertex information generator, attribute information generator, and video decodermay correspond to vertex information decoder, attribute information decoder, and the like illustrated in.

213 In addition, in this example, three-dimensional data decoderdecodes three-dimensional data according to a video-based encoding system. In decoding according to the video-based encoding system, a plurality of two-dimensional images are decoded according to a video encoding system and three-dimensional data is generated from the plurality of two-dimensional images. In this case, the video encoding system may be HEVC (high efficiency video coding), VVC (versatile video coding), or the like.

224 224 234 223 Specifically, first, a bitstream is input from a system layer into demultiplexer. Demultiplexerseparates compressed vertex information, metadata of the compressed vertex information, compressed attribute information, metadata of the compressed attribute information, and compressed metadata from the bitstream. The compressed vertex information, the metadata of the compressed vertex information, the compressed attribute information, and the metadata of the compressed attribute information are input to video decoder. The compressed metadata is input to metadata decoder.

234 234 234 231 234 234 234 232 Video decoderdecodes a vertex image according to the video encoding system. In doing so, video decoderdecodes the vertex image from the compressed vertex information using the metadata of the compressed vertex information. In addition, video decoderinputs the vertex image into vertex information generator. Furthermore, video decoderdecodes an attribute image according to the video encoding system. In doing so, video decoderdecodes the attribute image from the compressed attribute information using the metadata of the compressed attribute information. In addition, video decoderinputs the attribute image into attribute information generator.

223 223 223 Metadata decoderdecodes metadata from the compressed metadata. The metadata decoded by metadata decoderincludes map information to be used to generate vertex information and to generate attribute information. In addition, the metadata decoded by metadata decodermay be used to decode the vertex image and to decode the attribute image.

231 223 232 223 Vertex information generatorreproduces vertex information from the vertex image according to the map information included in the metadata decoded by metadata decoder. Attribute information generatorreproduces attribute information from the attribute image according to the map information included in the metadata decoded by metadata decoder.

213 Subsequently, the vertex information, the attribute information, and the metadata are output from three-dimensional data decoderas three-dimensional data. For example, the metadata is metadata of vertex information and attribute information and can be used in an application program.

22 FIG. 22 FIG. 113 148 113 141 142 141 143 142 144 145 is a conceptual diagram illustrating a specific example of encoding processing according to the present embodiment.illustrates three-dimensional data encoderand description encoder. In this example, three-dimensional data encoderincludes two-dimensional data encoderand mesh data encoder. Two-dimensional data encoderincludes texture encoder. Mesh data encoderincludes vertex information encoderand connection information encoder.

144 145 143 101 102 103 6 FIG. Vertex information encoder, connection information encoder, and texture encodermay correspond to vertex information encoder, connection information encoder, attribute information encoder, and the like illustrated in.

141 143 For example, two-dimensional data encoderoperates as texture encoderand generates a texture file by encoding a texture corresponding to attribute information as two-dimensional data according to an image encoding system or a video encoding system.

142 144 145 142 In addition, mesh data encoderoperates as vertex information encoderand connection information encoderand generates a mesh file by encoding vertex information and connection information. Mesh data encodermay further encode mapping information with respect to a texture. The encoded mapping information may be included in a mesh file.

148 148 148 114 12 FIG. In addition, description encodergenerates a description file by encoding a description corresponding to metadata such as text data. Description encodermay encode a description in the system layer. For example, description encodermay be included in system multiplexerillustrated in.

Due to the operation described above, a bitstream including a texture file, a mesh file, and a description file is generated. The files may be multiplexed in the bitstream in a file format such as gITF (graphics language transmission format) or USD (universal scene description).

113 142 Note that three-dimensional data encodermay include two mesh data encoders as mesh data encoder. For example, one mesh data encoder encodes vertex information and connection information of a static three-dimensional mesh and the other mesh data encoder encodes vertex information and connection information of a dynamic three-dimensional mesh.

In addition, two mesh files may be included in the bitstream so as to correspond to the three-dimensional meshes. For example, one mesh file corresponds to the static three-dimensional mesh and the other mesh file corresponds to the dynamic three-dimensional mesh.

Furthermore, the static three-dimensional mesh may be an intra-frame three-dimensional mesh which is encoded using intra-prediction and the dynamic three-dimensional mesh may be an inter-frame three-dimensional mesh which is encoded using inter-prediction. In addition, as information of the dynamic three-dimensional mesh, difference information between vertex information or connection information of the intra-frame three-dimensional mesh and vertex information or connection information of the inter-frame three-dimensional mesh may be used.

23 FIG. 23 FIG. 213 248 247 213 241 242 246 241 243 242 244 245 is a conceptual diagram illustrating a specific example of decoding processing according to the present embodiment.illustrates three-dimensional data decoder, description decoder, and presenter. In this example, three-dimensional data decoderincludes two-dimensional data decoder, mesh data decoder, and mesh reconstructor. Two-dimensional data decoderincludes texture decoder. Mesh data decoderincludes vertex information decoderand connection information decoder.

244 245 243 246 201 202 203 205 247 215 8 FIG. 12 FIG. Vertex information decoder, connection information decoder, texture decoder, and mesh reconstructormay correspond to vertex information decoder, connection information decoder, attribute information decoder, postprocessor, and the like illustrated in. Presentermay correspond to presenterand the like illustrated in.

241 243 For example, two-dimensional data decoderoperates as texture decoderand decodes a texture corresponding to attribute information from a texture file as two-dimensional data according to an image encoding system or a video encoding system.

242 244 245 242 In addition, mesh data decoderoperates as vertex information decoderand connection information decoderand decodes vertex information and connection information from a mesh file. Mesh data decodermay further decode mapping information with respect to a texture from the mesh file.

248 248 248 214 12 FIG. Furthermore, description decoderdecodes a description corresponding to metadata such as text data from a description file. Description decodermay decode a description in the system layer. For example, description decodermay be included in system demultiplexerillustrated in.

246 247 Mesh reconstructorreconstructs a three-dimensional mesh from vertex information, connection information, and a texture according to a description. Presenterrenders and outputs the three-dimensional mesh according to the description.

Due to the operation described above, a three-dimensional mesh is reconstructed and output from a bitstream including a texture file, a mesh file, and a description file.

213 242 Note that three-dimensional data decodermay include two mesh data decoders as mesh data decoder. For example, one mesh data decoder decodes vertex information and connection information of a static three-dimensional mesh and the other mesh data decoder decodes vertex information and connection information of a dynamic three-dimensional mesh.

In addition, two mesh files may be included in the bitstream so as to correspond to the three-dimensional meshes. For example, one mesh file corresponds to the static three-dimensional mesh and the other mesh file corresponds to the dynamic three-dimensional mesh.

Furthermore, the static three-dimensional mesh may be an intra-frame three-dimensional mesh which is encoded using intra-prediction and the dynamic three-dimensional mesh may be an inter-frame three-dimensional mesh which is encoded using inter-prediction. In addition, as information of the dynamic three-dimensional mesh, difference information between vertex information or connection information of the intra-frame three-dimensional mesh and vertex information or connection information of the inter-frame three-dimensional mesh may be used.

An encoding system of a dynamic three-dimensional mesh may be called DMC (dynamic mesh coding). In addition, a video-based encoding system of a dynamic three-dimensional mesh may be called VDMC (video-based dynamic mesh coding).

An encoding system of a point cloud may be called PCC (point cloud compression). A video-based encoding system of a point cloud may be called V-PCC (video-based point cloud compression). In addition, a geometry-based encoding system of a point cloud may be called G-PCC (geometry-based point cloud compression).

24 FIG. 5 FIG. 24 FIG. 100 100 151 152 100 151 152 is a block diagram illustrating an implementation example of encoding deviceaccording to the present embodiment. Encoding deviceincludes circuitand memory. For example, a plurality of constituent elements of encoding deviceillustrated inand the like are implemented by circuitand memoryillustrated in.

151 152 151 151 151 Circuitis a circuit which performs information processing and which is capable of accessing memory. For example, circuitis a dedicated or general-purpose electric circuit which encodes a three-dimensional mesh. Circuitmay be a processor such as a CPU. Alternatively, circuitmay be a set of a plurality of electric circuits.

152 151 152 151 152 151 152 152 152 Memoryis a dedicated or general-purpose memory that stores information used by circuitto encode a three-dimensional mesh. Memorymay be an electric circuit and may be connected to circuit. In addition, memorymay be included in circuit. Alternatively, memorymay be a set of a plurality of electric circuits. Furthermore, memorymay be a magnetic disk, an optical disk, or the like or may be expressed as a storage, a recording medium, or the like. In addition, memorymay be a non-volatile memory or a volatile memory.

152 152 151 For example, memorymay store a three-dimensional mesh or a bitstream. In addition, memorymay store a program used by circuitto encode a three-dimensional mesh.

100 100 5 FIG. 5 FIG. Note that in encoding device, all of the plurality of constituent elements illustrated inand the like need not be implemented and all of the plurality of processing steps described herein need not be performed. A part of the plurality of constituent elements illustrated inand the like may be included in another device and a part of the plurality of processing steps described herein may be executed by another device. In addition, a plurality of constituent elements according to the present disclosure may be optionally combined and implemented or a plurality of processing steps according to the present disclosure may be optionally combined and executed in encoding device.

25 FIG. 7 FIG. 25 FIG. 200 200 251 252 200 251 252 is a block diagram illustrating an implementation example of decoding deviceaccording to the present embodiment. Decoding deviceincludes circuitand memory. For example, a plurality of constituent elements of decoding deviceillustrated inand the like are implemented by circuitand memoryillustrated in.

251 252 251 251 251 Circuitis a circuit which performs information processing and which is capable of accessing memory. For example, circuitis a dedicated or general-purpose electric circuit which decodes a three-dimensional mesh. Circuitmay be a processor such as a CPU. Alternatively, circuitmay be a set of a plurality of electric circuits.

252 251 252 251 252 251 252 252 252 Memoryis a dedicated or general-purpose memory that stores information used by circuitto decode a three-dimensional mesh. Memorymay be an electric circuit and may be connected to circuit. In addition, memorymay be included in circuit. Alternatively, memorymay be a set of a plurality of electric circuits. Furthermore, memorymay be a magnetic disk, an optical disk, or the like or may be expressed as a storage, a recording medium, or the like. In addition, memorymay be a non-volatile memory or a volatile memory.

252 252 251 For example, memorymay store a three-dimensional mesh or a bitstream. In addition, memorymay store a program used by circuitto decode a three-dimensional mesh.

200 200 7 FIG. 7 FIG. Note that in decoding device, all of the plurality of constituent elements illustrated inand the like need not be implemented and all of the plurality of processing steps described herein need not be performed. A part of the plurality of constituent elements illustrated inand the like may be included in another device and a part of the plurality of processing steps described herein may be executed by another device. In addition, a plurality of constituent elements according to the present disclosure may be optionally combined and implemented or a plurality of processing steps according to the present disclosure may be optionally combined and executed in decoding device.

100 200 An encoding method and a decoding method including steps performed by each constituent element of encoding deviceand decoding deviceaccording to the present disclosure may be executed by any device or system. For example, a part of or all of the encoding method and the decoding method may be executed by a computer including a processor, a memory, an input/output circuit, and the like. In doing so, the encoding method and the decoding method may be executed by having the computer execute a program that enables the computer to execute the encoding method and the decoding method.

In addition, a program or a bitstream may be recorded on a non-transitory computer-readable recording medium such as a CD-ROM.

200 200 An example of a program may be a bitstream. For example, a bitstream including an encoded three-dimensional mesh includes a syntax element that enables decoding deviceto decode the three-dimensional mesh. In addition, the bitstream causes decoding deviceto decode the three-dimensional mesh according to the syntax element included in the bitstream. Therefore, a bitstream can perform a similar role to a program.

The bitstream described above may be an encoded bitstream including an encoded three-dimensional mesh or a multiplexed bitstream including an encoded three-dimensional mesh and other information.

100 200 In addition, each constituent element of encoding deviceand decoding devicemay be constituted of dedicated hardware, general-purpose hardware which executes the program or the like described above, or a combination thereof. Furthermore, the general-purpose hardware may be constituted of a memory on which a program is recorded, a general-purpose processor which reads the program from the memory and executes the program, and the like.

In this case, the memory may be a semiconductor memory, a hard disk, or the like and the general-purpose processor may be a CPU or the like.

Furthermore, the dedicated hardware may be constituted of a memory, a dedicated processor, and the like. For example, the dedicated processor may execute the encoding method and the decoding method by referring to a memory for recording data.

100 200 100 200 In addition, as described above, the respective constituent elements of encoding deviceand decoding devicemay be electric circuits. The electric circuits may constitute one electric circuit as a whole or may be respectively different electric circuits. Furthermore, the electric circuits may correspond to dedicated hardware or to general-purpose hardware which executes the program or the like described above. Moreover, encoding deviceand decoding devicemay be implemented as integrated circuits.

100 200 In addition, encoding devicemay be a transmitting device which transmits a three-dimensional mesh. Decoding devicemay be a receiving device which receives a three-dimensional mesh.

The following terms will be used here as examples.

An image is a data unit constituted of a set of pixels. An image includes a picture or blocks, which are smaller than a picture. Images include a still image in addition to a moving image.

A picture is an image processing unit constituted of a set of pixels. A picture will also be referred to as a frame or a field.

Slice, tile, or brick CTU, super block, or basic splitting unit VPDU, processing splitting unit for hardware CU, processing block unit, prediction block unit (PU), or orthogonal transform block unit (TU) Sub-block A block is a processing unit constituted of a set of a particular number of pixels. For a block, the terms shown as the following examples are also used. The shapes of blocks are not particularly limited. Examples of blocks can include a rectangle shape of M×N pixels or a square shape of M×M pixels. The examples of blocks may also include a triangular shape, a circular shape, and other shapes. Examples of blocks are as follows.

A pixel or a sample is the smallest point of an image, in other words, the smallest unit. Pixels or samples include not only a pixel at an integer position but also a pixel at a sub-pixel position that is generated based on a pixel at an integer position.

A pixel value or a sample value is an eigen value of a pixel. Pixel values or sample values include a luma value, a chroma value, and an RGB gradation level. Pixel values or sample values can also include a depth value or a binary value of 0 or 1.

A flag indicates one or more bits. A flag is, for example, a parameter or an index represented by two or more bits. A flag may indicate not only a value represented by a binary number but also a value represented by a numerical value other than a binary number.

A signal is one that is symbolized or encoded to convey information. Signals include a discrete digital signal and an analog signal that takes a continuous value.

A stream or a bitstream is a digital data string indicating a digital data flow. A stream or a bitstream may be one stream or may be constituted of a plurality of streams having a plurality of hierarchical layers. A stream or a bitstream may be transmitted in serial communication using a single transmission path or may be transmitted in packet communication using a plurality of transmission paths.

In the case of scalar quantities, a difference can include a simple difference (x−y) and a difference calculation. Differences can include an absolute value of a difference (|x−y|), a squared difference (x{umlaut over ( )}2−y{circumflex over ( )}2), a square root of a difference (√(x−y)), a weighted difference (ax−by: a and b are constants), or an offset difference (x−y+a: a is an offset).

In the case of scalar quantities, sums can include a simple sum (x+y) and a sum calculation. Sums include an absolute value of a sum (|x+y|), a squared sum (x{circumflex over ( )}2+y{circumflex over ( )}2), a square root of a sum (√(x+y)), a weighted sum (ax+by: a and b are constants), and an offset sum (x+y+a: a is an offset).

The phrase “based on something” means that a thing other than the “something” may be taken into consideration. In addition, the term “based on” may be used in a case where a direct result is obtained or a case where a result is obtained through an interim result.

The phrase “something is used” or “using something” means that a thing other than the “something” may be taken into consideration. In addition, the term “used” or “using” may be used in a case where a direct result is obtained or a case where a result is obtained through an interim result.

The term “prohibit” or “forbid” can be rephrased as “does not permit” or “does not allow.” In addition, the phrase “being not prohibited/forbidden” or “being permitted/allowed” does not always mean “obligation.”

The term “limit” or “restriction/restrict/restricted” can be rephrased as “does not permit/allow” or “being not permitted/allowed.” In addition, the phrase “being prohibited/forbidden,” “being not prohibited/forbidden,” “being not permitted/allowed,” or “being permitted/allowed” does not always mean “obligation.” Furthermore, part of something may be prohibited/forbidden quantitatively or qualitatively, or something may be fully prohibited/forbidden quantitatively or qualitatively.

Chroma is an adjective that is represented by the symbols Cb and Cr, specifying that a sample array or a single sample represents one of two color difference signals related to primary colors. The term chroma may be used instead of the term chrominance.

Luma is an adjective that is represented by the symbol or subscript Y or L, specifying that a sample array or a single sample represents a monochrome signal related to primary colors. The term luma may be used instead of the term luminance.

Hereinafter, an encoding/decoding system of the present embodiment will be described.

A generic three-dimensional model (also referred to as a 3D model) represents an object digitally such that a user can explorer a model using zooming, panning, and rotation in all three dimensions while rendering it temporally. One way to construct such a representation is to construct a 3D mesh using triangles. The model stores the positions of the vertices of each triangle, connectivity of the vertices of the triangle with each other, and the attributes associated therewith (such as a normal, UV patches, etc.).

Storing all of these types of information in an uncompressed form needs very large storage space, which in turn needs a very large bandwidth for transmission. The triangles forming the mesh often have a repetitive pattern and similar attributes especially in the temporal and spatial neighborhood. The repetition can be used to formulate an efficient encoding and decoding method for storage and transmission. One such encoding and decoding method is Video-based Dynamic Mesh Coding (V-DMC).

26 FIG. 26 FIG. 100 200 is a block diagram illustrating another configuration example of the encoding/decoding system according to the present embodiment. As illustrated in, the encoding/decoding system includes encoding deviceand decoding device.

The encoding/decoding system receives a three-dimensional mesh (also referred to as a 3D mesh) that is input in the form of three-dimensional coordinates (vertex information), connectivity (connection information), and associated attributes (attribute information) of vertices. Note that the 3D mesh can include not only geometry but also a texture map.

100 100 Encoding devicetakes in the 3D mesh that has been input (also referred to as an input 3D mesh or an input mesh) in the form of the vertices' three-dimensional coordinates, connectivity, and associated attributes. Encoding deviceis responsible for encoding all related information into a stream. The stream may include a single bitstream or a plurality of bitstreams.

300 200 300 300 300 300 Networktransmits the stream generated by the encoding device to decoding device. Networkmay be the Internet, a wide area network (WAN), a local area network (LAN), or any combination of these networks. Networkis not always limited to a bidirectional communication network. Networkmay be a unidirectional communication network that transmits broadcast waves of digital terrestrial broadcasting, satellite broadcasting, or the like. Alternatively, networkmay be replaced by a recording medium such as a Digital Versatile Disc (DVD), a Blue-Ray Disc (BD), or the like on which the stream is recorded.

200 300 200 200 The stream is transmitted to decoding devicethrough network. Decoding devicedecodes the bitstream to produce a three-dimensional mesh using the decoded vertices' three-dimensional coordinates, connectivity, and associated attributes. Decoding deviceoutputs the produced three-dimensional mesh (also referred to as an output 3D mesh or an output mesh).

27 FIG. 100 is a diagram illustrating another configuration example of encoding device.

27 FIG. 100 1103 1106 As illustrated in, encoding deviceincludes preprocessorand compressor.

100 1101 1102 1103 1103 1104 1105 1102 1104 1105 1106 Encoding devicereads input meshand attribute mapand passes them to preprocessor. Preprocessorprocesses the input mesh to extract base meshand displacement data. Attribute mapalong with base meshand displacement datahaving been extracted are passed to compressor.

1106 1104 1105 1102 1107 1106 1108 1107 200 Compressorcompresses base mesh, displacement data, and attribute mapto generate bitstream. Compressorcan additionally include metadatain bitstreamto send the supplementary information to decoding device.

28 FIG. 200 is a diagram illustrating another configuration example of decoding device.

28 FIG. 200 2102 2106 As illustrated in, decoding deviceincludes decompressorand postprocessor.

200 2101 2102 2102 2103 2104 2108 2101 2106 2104 Decoding devicereads bitstreamand passes it to decompressor. Decompressordecompresses base mesh, displacement data, and attribute mapfrom bitstreamand passes them to postprocessor. One example of displacement datais displacement vectors.

2106 2103 2104 2108 2107 2106 2105 2107 Postprocessorprocesses base meshas per displacement dataand attribute mapto produce output mesh. Postprocessormay additionally use information from metadatato produce output mesh.

100 Hereinafter, details of the configuration of encoding devicewill be described.

29 FIG. 100 is a block diagram illustrating a detailed configuration example of encoding device.

29 FIG. 100 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 As illustrated in, encoding deviceincludes decimator, quantizer, base mesh encoder, base mesh decoder, inverse quantizer, subdivider, displacement vector calculator, wavelet transformer, quantizer, image packer, video encoder, color converter, video encoder, and multiplexer.

1201 100 1101 Decimatoracquires a mesh that is input into encoding device(equivalent to input mesh) as an original mesh and performs a decimating process (in other words, a thinning-out process) on the acquired original mesh to produce a base mesh. The decimating process is a process of deleting (in other words, thinning out) some of vertices included in the original mesh. The decimating process may include a process of changing the positions of at least some of the vertices included in the original mesh or may include a process of changing the connectivity of at least some of the vertices included in the original mesh. The decimating process will also be referred to simply as decimating.

1201 1202 The base mesh produced through the decimating process is a mesh including fewer vertices than the original mesh. The vertices of the base mesh may be positioned differently from the vertices of the original mesh. In addition, the connectivity of the vertices of the base mesh may be different from the connectivity of the vertices of the original mesh. Decimatorprovides the produced base mesh to quantizer.

1202 1201 1202 1203 Quantizerquantizes the base mesh produced by decimator. Quantizerprovides the quantized base mesh to base mesh encoder.

1203 1202 1203 1204 1214 Base mesh encoderencodes the base mesh quantized by quantizerinto a bitstream (also referred to as a base mesh bitstream) (in other words, generates the base mesh bitstream). Base mesh encoderprovides the base mesh bitstream to base mesh decoderand multiplexer.

1204 1203 1204 1205 Base mesh decoderdecodes the base mesh bitstream provided from base mesh encoderto acquire the quantized base mesh. Base mesh decoderprovides the quantized base mesh to inverse quantizer.

1205 1204 1205 1206 1205 1201 Inverse quantizerinverse quantizes the quantized base mesh provided from base mesh decoderto produce the base mesh (also referred to as a decoded base mesh). Inverse quantizerprovides the decoded base mesh to subdivider. The processes of quantization and inverse quantization may make the decoded base mesh produced by inverse quantizerdifferent from the base mesh produced by decimator.

1206 1205 1206 1207 Subdividerperforms a subdivision process on the decoded base mesh produced by inverse quantizer. The subdivision process can be a process of subdividing each face included in the decoded base mesh to segmentalize the face. Subdividerprovides the subdivided, decoded base mesh to displacement vector calculator.

1206 Specifically, subdividersubdivides a mesh by generating a new vertex between two vertices that are included in the mesh and connected to each other. Repeating the generation of new vertex can increase the number of the vertices included in the mesh to a predetermined number. The iteration of the subdivision over the entire mesh (in other words, the plurality of executions of the subdivision) generates a plurality of levels of detail (LoD) layers.

1207 100 1206 1207 1207 1208 Displacement vector calculatoracquires the original mesh acquired by encoding deviceand acquires, from subdivider, the subdivided, decoded base mesh. Displacement vector calculatorcalculates vectors from the vertices of the subdivided, decoded base mesh to the vertices, faces, or edges of the original mesh, as displacement vectors. Displacement vector calculatorprovides the displacement vectors to wavelet transformer.

1208 1207 1208 1209 1208 1208 Wavelet transformerperforms a wavelet transforming process on the displacement vectors calculated by displacement vector calculatorto acquire wavelet coefficients. Wavelet transformerprovides the wavelet coefficients to quantizer. In the wavelet transformation, wavelet transformerassigns the vertices to a plurality of LoD layers and applies, for example, the lifting scheme to the displacement vectors of the vertices. Wavelet transformercan thus calculate wavelet coefficients representing various components from low-frequency components to high-frequency components.

1209 1208 1209 1209 1210 Quantizerquantizes the wavelet coefficients acquired by wavelet transformer. Quantizercan quantize the wavelet coefficients for each LOD layer. Quantizerprovides the quantized wavelet coefficients to image packer.

1210 1209 1210 1209 1210 1211 Image packergenerates an image containing the wavelet coefficients quantized by quantizer. Image packercan generate the image by mapping the wavelet coefficients quantized by quantizeronto pixels in a two-dimensional image format. Image packerprovides the generated image to video encoder. In the process of mapping the quantized wavelet coefficients onto the pixels in the two-dimensional image format, mapping information that represents the assignment of the quantized wavelet coefficients to the pixels in the two-dimensional image format can be used.

1211 1210 1211 1214 Video encoderencodes the image generated by image packerinto a bitstream (also referred to as a displacement bitstream) (in other words, generates the displacement bitstream). Video encoderprovides the displacement bitstream to multiplexer. The displacement bitstream can be a bitstream including displacement information in the form of an image. The format of the image can be, for example, a format including two items of chroma information and one item of luma information.

1212 100 1212 1213 1212 Color converteracquires an attribute map acquired by encoding deviceas an original attribute map and performs a color converting process on the original attribute map. The color converting process can include a process of converting a representation form of color or a color space. Color converterprovides the attribute map subjected to the color converting process to video encoder. Note that although here is described the case where the original attribute map is input into color converterby way of example, the feature map may be converted in accordance with the structure of the decoded mesh in the case where the decoded mesh differs from the original mesh in the number or positions of the vertices.

1213 1212 1213 1214 Video encoderencodes the attribute map converted by color converterinto a bitstream (also referred to as an attribute bitstream) (in other words, generates the attribute bitstream). Video encoderprovides the attribute bitstream to multiplexer.

1214 1203 1211 1213 1214 100 Multiplexeracquires the base mesh bitstream from base mesh encoder, acquires the displacement bitstream from video encoder, acquires the attribute bitstream from video encoder, and multiplexes these bitstreams to generate and output a compressed bitstream. Outputting the compressed bitstream by multiplexercan be equivalent to outputting of the bitstream by encoding device.

1210 1211 100 1210 1211 Note that the process of encoding the wavelet coefficients into the displacement bitstream, which is executed by image packerand video encoder, may be performed through an arithmetic encoding process. In addition, encoding devicemay be configured to be capable of selecting whether the process is to be executed through the process by image packerand video encoder(also referred to as a video encoding process) or executed through the arithmetic encoding process. An example of such a configuration will be described below.

30 FIG. 30 FIG. 29 FIG. 100 is a block diagram illustrating a detailed configuration variation of encoding device.illustrates a variation of the functional blocks enclosed by the dotted-line frame illustrated in.

1207 1208 1209 1210 1211 30 FIG. 29 FIG. Displacement vector calculator, wavelet transformer, quantizer, image packer, and video encoderillustrated inare the same as those illustrated in.

30 FIG. 100 1221 1222 1223 As illustrated in, encoding devicefurther includes switcher, switcher, and arithmetic encoder.

1221 1222 1210 1211 1223 Switcherand switcherare switchers that switch whether image packerand video encoderor arithmetic encoderis to execute the process of encoding the wavelet coefficients into the displacement bitstream.

1221 1222 1210 1211 1223 1221 1222 1210 1211 1223 Switcherand switchermay dynamically switch a constituent component that is to execute the process to image packerand video encoderor arithmetic encoder. Switcherand switchermay be configured to always (in other words, fixedly) use image packerand video encoderas the constituent component that is to execute the process or may be configured to always (in other words, fixedly) use arithmetic encoderas the constituent component.

1223 Arithmetic encoderexecutes the process of encoding the wavelet coefficients into the displacement bitstream by means of arithmetic encoding.

100 1210 1211 1223 200 Note that encoding devicemay add, to header information, information indicating whether the process of encoding the wavelet coefficients into the displacement bitstream has been executed by image packerand video encoder(in other words, the process has been executed through the video encoding process) or by arithmetic encoder(in other words, the process has been executed through the arithmetic encoding process). This enables decoding devicereceiving the bitstream encoded in the above manner to appropriately decode the bitstream by switching decoding methods of decoding the bitstream with reference to the header information.

100 Hereinafter, an encoding process performed by encoding devicewill be described in detail.

31 FIG. 32 FIG. 31 FIG. 32 FIG. 100 100 is a flowchart illustrating the process by encoding device.is an explanatory diagram schematically illustrating the encoding of a mesh frame. With reference toand, the process by encoding devicewill be described.

101 100 100 1301 32 FIG. In step S, encoding devicereads a 3D mesh frame, which is an input mesh frame, and its attributes. The input mesh frame is a mesh frame input into encoding device. An example of the 3D mesh frame being the input mesh frame is illustrated as mesh frame(see).

102 100 101 1301 1302 32 FIG. In step S, encoding deviceperforms the decimating process on the input mesh frame that is read in step Sto produce a base mesh frame, which has a smaller number of vertices than the input mesh frame. The base mesh frame produced by decimating mesh frameis illustrated as base mesh frame(see).

103 100 200 102 1301 1302 1303 1303 1303 32 FIG. In step S, encoding devicecalculates displacement information to be used by decoding deviceto reconstruct the mesh frame. The displacement information is equivalent to displacement vectors from the vertices of the base mesh frame produced in step Sto the vertices of the input mesh frame. Methods of calculating the displacement information include a method in which the sets of coordinates of the vertices of the base mesh frame are subtracted from the coordinates of the vertices of the input mesh frame. The displacement information calculated from mesh frameand base mesh frameis illustrated as displacement information(see). Displacement informationis in a vector format. In other words, displacement informationis represented as displacement vectors.

104 100 102 103 1304 32 FIG. In step S, encoding deviceencodes the base mesh frame produced in step S, the displacement information generated in step S, and the attributes of the input mesh frame into a bitstream (equivalent to a compressed bitstream). An example of the bitstream is illustrated as bitstream(see).

1304 32 FIG. Specifically, bitstreamincludes sets of vertex coordinates of and connection information on vertices A, C, E, and F, the displacement information, a video bitstream including texture data, and a compressed attribute map (see). The displacement information includes displacement information for displacing vertices based on the vertex coordinates acquired from the base mesh frame that has been subdivided. The compressed attribute map includes texture coordinates used to apply the texture data to the mesh frame that is reconstructed using the base mesh frame and the displacement information.

200 Hereinafter, details of the configuration of decoding devicewill be described.

33 FIG. 200 is a block diagram illustrating a detailed configuration example of decoding device.

33 FIG. 200 2201 2202 2203 2204 2205 2206 2207 2208 2209 2210 2211 As illustrated in, decoding deviceincludes demultiplexer, base mesh decoder, inverse quantizer, subdivider, video decoder, image unpacker, inverse quantizer, inverse wavelet transformer, reconstructor, video decoder, and color converter.

2201 200 2201 2202 2205 2210 200 100 Demultiplexeracquires a compressed bitstream input into decoding deviceand separates a base mesh bitstream, a displacement bitstream, and an attribute bitstream from the compressed bitstream. Demultiplexerprovides the base mesh bitstream to base mesh decoder, provides the displacement bitstream to video decoder, and provides the attribute bitstream to video decoder. The compressed bitstream input into decoding devicecan be, for example, a compressed bitstream output by encoding device. The description will be made on this case as an example.

2202 2201 2202 2203 Base mesh decoderdecodes the base mesh bitstream provided from demultiplexerto acquire a quantized base mesh. Base mesh decoderprovides the quantized base mesh to inverse quantizer.

2203 2202 2203 2204 Inverse quantizerinverse quantizes the quantized base mesh provided from base mesh decoderto produce the base mesh (also referred to as a decoded base mesh). Inverse quantizerprovides the decoded base mesh to subdivider.

2204 2203 1206 2204 2209 Subdividerperforms the subdivision process on the decoded base mesh produced by inverse quantizer. The subdivision process is the same as the subdivision process executed by subdivider. Subdividerprovides the subdivided, decoded base mesh to reconstructor.

2205 2201 2205 2206 Video decoderdecodes displacement bitstream provided from demultiplexerinto an image. The image can be an image in which quantized wavelet coefficients are contained by the mapping of the quantized wavelet coefficients onto pixels in a two-dimensional image format. Video decoderprovides the image to image unpacker.

2206 2205 2206 2207 Image unpackertakes out the quantized wavelet coefficients from the image provided from video decoder. In the process of taking out the quantized wavelet coefficients from the image, a mapping that represents the assignment of the quantized wavelet coefficients to the pixels in the two-dimensional image format can be used. Image unpackerprovides the quantized wavelet coefficients taken out from the image to inverse quantizer.

2207 2206 Inverse quantizerinverse quantizes the quantized wavelet coefficients provided from image unpackerto generate wavelet coefficients.

2208 2207 1208 2208 2209 Inverse wavelet transformerperforms an inverse wavelet transforming process on the wavelet coefficients provided from inverse quantizerto generate displacement vectors (equivalent to decoded displacement vectors). The inverse wavelet transforming process is equivalent to the inverse transform of the wavelet transforming process performed by wavelet transformer. Inverse wavelet transformerprovides the generated decoded displacement vectors to reconstructor.

2209 2204 2208 2209 2107 Reconstructorreconstructs a mesh (equivalent to a decoded mesh) using the subdivided, decoded base mesh provided from subdividerand the decoded displacement vectors provided from inverse wavelet transformer. Reconstructoroutputs the reconstructed, decoded mesh as output mesh.

2210 2201 2210 2211 Video decoderdecodes the attribute bitstream provided from demultiplexerinto an attribute map (equivalent to a decoded attribute map). Video decoderprovides the decoded attribute map to color converter.

2211 2210 1212 2211 Color converterperforms a color converting process on the decoded attribute map provided from video decoder. The color converting process is equivalent to the inverse conversion of the color converting process executed by color converterand can include a process of converting a representation form of color or a color space. Color converteroutputs the decoded attribute map subjected to the color converting process.

2205 2206 200 2205 2206 Note that the process of decoding the displacement bitstream into the wavelet coefficients, which is executed by video decoderand image unpacker, may be performed through an arithmetic encoding process. In addition, decoding devicemay be configured to be capable of selecting whether the process is to be executed through the process by video decoderand image unpacker(also referred to as a video decoding process) or executed through the arithmetic encoding process. An example of such a configuration will be described below.

34 FIG. 34 FIG. 33 FIG. 200 is a block diagram illustrating a detailed configuration variation of decoding device.illustrates a variation of the functional blocks enclosed by the dotted-line frame illustrated in.

2205 2206 2207 2208 2209 34 FIG. 33 FIG. Video decoder, image unpacker, inverse quantizer, inverse wavelet transformer, and reconstructorillustrated inare the same as those illustrated in.

34 FIG. 200 2221 2222 2223 As illustrated in, decoding devicefurther includes switcher, switcher, and arithmetic decoder.

2221 2222 2205 2206 2223 Switcherand switcherare switchers that switch whether video decoderand image unpackeror arithmetic decoderis to execute the process of decoding the displacement bitstream into the wavelet coefficients.

2221 2222 2205 2206 2223 2221 2222 2205 2206 2223 Switcherand switchermay dynamically switch a constituent component that is to execute the process to video decoderand image unpackeror arithmetic decoder. Switcherand switchermay be configured to always (in other words, fixedly) use video decoderand image unpackeras the constituent component that is to execute the process or may be configured to always (in other words, fixedly) use arithmetic decoderas the constituent component.

2223 Arithmetic decoderexecutes the process of decoding the displacement bitstream into the wavelet coefficients by means of arithmetic decoding.

2205 2206 2223 200 Note that information indicating whether video decoderand image unpackeror arithmetic decoderhas executed the process of decoding the displacement bitstream into the wavelet coefficients (in other words, whether the process has been executed through the video decoding process or the arithmetic decoding process) may have been added to header information. In this case, decoding devicecan appropriately decode the bitstream by switching the decoding methods of decoding the bitstream with reference to the header information.

200 Hereinafter, a decoding process performed by decoding devicewill be described in detail.

35 FIG. 36 FIG. 35 FIG. 36 FIG. 200 200 is a flowchart illustrating the process by decoding device.is an explanatory diagram schematically illustrating the decoding of a 3D mesh. With reference toand, the process by decoding devicewill be described.

201 200 2301 36 FIG. In step S, decoding devicedecodes a base mesh frame and attributes from a bitstream (equivalent to a compressed bitstream). An example of the decoded base mesh frame (equivalent to a decoded base mesh frame) is illustrated as decoded base mesh frame(see).

202 200 201 2302 36 FIG. In step S, decoding deviceperforms the subdivision process on the base mesh frame decoded in step Sto produce subdivided vertices. An example of the base mesh frame including the subdivided vertices is illustrated as base mesh frame(see).

203 200 2303 2303 2303 36 FIG. In step S, decoding devicedecodes displacement information from the bitstream (equivalent to the compressed bitstream). An example of the decoded displacement information is illustrated as displacement information(see). Displacement informationis in a vector format. In other words, displacement informationis represented as displacement vectors.

204 200 2304 36 FIG. In step S, using the displacement information, decoding devicemoves the vertices of the base mesh frame including the subdivided vertices to new positions to reconstruct the shape of the mesh frame and further applies attribute information to restore the mesh frame. An example of the attributes is texture. An example of the reconstructed mesh frame is illustrated as mesh frame(see).

1206 2204 Hereinafter, the subdivision will be described. The subdivision is executed by a subdivider (specifically, subdivideror subdivider).

37 FIG. is an explanatory diagram illustrating an example of the subdivision.

37 FIG. A base mesh illustrated in (a) inincludes vertices A, B, and C and connection information indicating their connectivity.

37 FIG. 1 In (b) in, a mesh produced by the first subdivision, in other words, a mesh after the first subdivision is illustrated. In the first subdivision, the subdivider generates vertices D, E, and F and connection information indicating their connectivity. This mesh produced by the subdivider will also be referred to as LoDor a first LoD.

Vertex D in the mesh after the first subdivision is a vertex that is generated by subdivision based on vertex A and vertex B. Likewise, vertex E is a vertex that is generated by subdivision based on vertex B and vertex C. Vertex F is a vertex that is generated by subdivision based on vertex A and vertex C.

Note that, as an example, vertex D can be the midpoint of segment AB (in other words, edge AB) connecting vertices A and B, which are used to generate vertex D. Likewise, vertex E can be the midpoint of segment AC. Vertex F can be the midpoint of segment BC.

37 FIG. 2 In (c) in, a mesh produced by the second subdivision, in other words, a mesh after the second subdivision is illustrated. In the second subdivision, the subdivider generates vertices G, H, I, J, K, L, M, N, and O and connection information indicating their connectivity. This mesh produced by the subdivider will also be referred to as LoDor a second LoD.

Vertex G in the mesh after the second subdivision is a vertex that is generated by subdivision based on vertex A and vertex D. Likewise, vertex H is a vertex that is generated by subdivision based on vertex A and vertex E. Vertex I is a vertex that is generated by subdivision based on vertex B and vertex D. Vertex J is a vertex that is generated by subdivision based on vertex D and vertex F. Vertex K is a vertex that is generated by subdivision based on vertex E and vertex F. Vertex L is a vertex that is generated by subdivision based on vertex C and vertex E. Vertex M is a vertex that is generated by subdivision based on vertex B and vertex F. Vertex N is a vertex that is generated by subdivision based on vertex C and vertex F. Vertex O is a vertex that is generated by subdivision based on vertex D and vertex E.

Note that, as an example, vertex G can be the midpoint of segment AD (in other words, edge AD) connecting vertices A and D, which are used to generate vertex G. Likewise, vertex H can be the midpoint of segment AE. Vertex I can be the midpoint of segment BD. Vertex J can be the midpoint of segment DF. Vertex K can be the midpoint of segment EF. Vertex L can be the midpoint of segment CE. Vertex M can be the midpoint of segment BF. Vertex N can be the midpoint of segment CF. Vertex O can be the midpoint of segment DE.

38 FIG. 39 FIG. 2209 Hereinafter, the displacement of vertices will be described with reference toand. The displacement of vertices is executed by reconstructor.

38 FIG. 39 FIG. is an explanatory diagram illustrating an example of the displacement of vertices in which the vertices are subdivided and then displaced.is an explanatory diagram illustrating an example of the vertices of the original mesh.

38 FIG. A base mesh illustrated in (a) inincludes vertices A, B, C, and Z and connection information indicating their connectivity.

38 FIG. 37 FIG. In (b) in, a mesh produced by the first subdivision, in other words, a mesh after the first subdivision (i.e., a first LoD) is illustrated. In the first subdivision, the subdivider generates vertex S, T, U, X, or Y and connection information indicating their connectivity. Vertex S, T, U, X, or Y is similar to vertices D, E, and F illustrated in (b) in.

38 FIG. 37 FIG. In (c) in, a mesh produced by the second subdivision, in other words, a mesh after the second subdivision (i.e., a second LoD) is illustrated. In the second subdivision, the subdivider generates vertices D, E, F, G, and H and connection information indicating their connectivity. Vertices D, E, F, G, and H are similar to vertices G, H, I, J, K, L, M, N, or O illustrated in (c) in.

38 FIG. 38 FIG. 38 FIG. In (d) in, a mesh including vertices that are subdivided and then displaced is illustrated. Vertices A, B, C, D, E, F, G, H, S, T, U, X, Y, and Z illustrated in (d) inare at positions that are displaced from positions of the respective vertices illustrated in (c) inusing the displacement information.

39 FIG. 100 The original mesh illustrated inis an example of the mesh input into encoding device, that is, a mesh before encoding.

38 FIG. 39 FIG. 1207 100 The mesh illustrated inhas a shape similar to that of the original mesh illustrated in. Since the displacement information is generated by displacement vector calculatorof encoding deviceas information indicating the displacement from the vertices of the base mesh to the vertices of the original mesh, the mesh having the shape similar to that of the original mesh is generated by the reconstruction of the mesh using the displacement information that has been generated in such a manner.

200 38 FIG. Decoding deviceis capable of outputting the mesh illustrated in (d) in.

40 FIG. 41 FIG. Next, the division of a mesh into submeshes will be described with reference toand.

The mesh can be divided into a plurality of portions each of which is smaller than the mesh and can be encoded. When the mesh is divided, the vertices of the mesh can be divided such that sets of coordinates and connectivity of the vertices included in each portion are independently encodable.

40 FIG. 41 FIG. is an explanatory diagram illustrating an example of a mesh.is an explanatory diagram illustrating an example of the division of a mesh into submeshes.

40 FIG. The mesh illustrated inis an original mesh and may also be referred to as a full mesh, in contrast to a submesh.

41 FIG. 40 FIG. 40 FIG. 1 2 1 2 1 2 illustrates how the full mesh illustrated inis divided into two submeshes. For vertices A, B, and C of the full mesh (see), vertex A is duplicated into vertex Aand vertex A, vertex B is duplicated into vertex Band vertex B, and vertex C is duplicated into vertex Cand vertex C. Thus, the two submeshes (i.e., a first submesh and a second submesh) are created from the full mesh. The first submesh and the second submesh are meshes that are independently decodable.

42 FIG. 43 FIG. 44 FIG. Hereinafter, the packing of displacement information into an image frame will be described with reference to,, and.

42 FIG. 43 FIG. 44 FIG. ,, andare explanatory diagrams illustrating examples of packing the displacement information into an image frame. Note that the image frame can be rephrased as a video frame.

Items of displacement data on vertices are mapped into, for example, components of an image frame in a YUV format (i.e., into Y components (Y Plane), U components (U Plane), and V components (V Plane)), thus being encoded as image frame data. This case will be described below as an example. Note that, as another example, the items of displacement data on vertices may be mapped into components of an image frame in an RGB format (R components, G components, and B components), thus being encoded as the image frame data.

200 Decoding devicecan use an image encoding module to extract the items of displacement data. Each of the items of displacement data may be in the form of an X component, a Y component, or a Z component in a global coordinate system (e.g., a Cartesian coordinate system) or a normal, a tangent, or a bi-tangent component in a local coordinate system. Methods of mapping the displacement data into the image frame include the following methods.

42 FIG. For example, in a first method, the items of displacement data are arranged in a traversing order in the image frame. An example of the packing of the items of displacement data in this case is illustrated in. The items of displacement data are directly mapped onto the image frame according to a predefined traversing order.

42 FIG. Note that the image frame has a fixed height and width, and thus there are cases where the items of displacement data do not fit exactly in the frame. In such a case, the remaining part of the image frame is padded with data for padding (also referred to as Padded data) (see).

43 FIG. 43 FIG. For example, in a second method, the items of displacement data are separated into a plurality of LoDs and mapped into the Y components, U components, and V components of the image frame. An example of the packing of the items of displacement data in this case is illustrated in. Here, the items of displacement data in the image frame for the next LoD start immediately after the items of displacement data for the previous LoD end. As in the first method, in the case where the items of displacement data do not exactly fit in the image frame, the image frame is padded at its end portion (see).

44 FIG. 44 FIG. For example, in a third method, the items of displacement data corresponding to the LoDs are mapped onto the Y components, U components, and V components of the image frame in a manner different from the second method. An example of the packing of the items of displacement data in this case is illustrated in. In this manner, each LoD can be independently decoded. In the third method, interim padding is performed for each LoD's displacement data to provide CTU alignment together with the padding at the end of the video frame (see).

100 Hereinafter, details of a process by encoding devicewill be described.

45 FIG. 45 FIG. 31 FIG. 100 is a flowchart illustrating an example of a detailed process by encoding device. The process illustrated inis a detailed process included in the process illustrated in.

301 100 100 In step S, encoding deviceencodes first vertices and first displacement vectors into a bitstream. Here, the first vertices are vertices included in a base mesh. The first displacement vectors are vectors indicating displacements from the vertices included in the base mesh (i.e., the first vertices) to vertices that are included in a mesh input into encoding deviceand correspond to the vertices included in the base mesh (i.e., second vertices).

302 100 301 In step S, encoding devicedecodes (in other words, reconstructs) the first vertices and the first displacement vectors from the bitstream encoded in step Sand reconstructs the second vertices using the decoded first vertices and first displacement vectors. The reconstruction of the second vertices includes the reconstruction of the first displacement vectors.

100 301 100 Specifically, encoding devicedecodes the bitstream encoded in step Sto acquire the first vertices and the first displacement vectors. Encoding devicethen displaces the decoded first vertices using the decoded first displacement vectors to reconstruct the second vertices.

100 Note that encoding devicecan acquire the first vertices and the first displacement vectors by calculating the first vertices and the first displacement vectors from the values of parameters used when the first vertices or the first displacement vectors are encoded, rather than acquiring the first vertices and the first displacement vectors by decoding the bitstream into which the first vertices and the first displacement vectors are encoded. Here, the parameters used when the first vertices or the first displacement vectors are encoded include, for example, quantization parameters.

303 100 302 In step S, encoding devicecalculates third vertices through an interpolation process based on the positions of a plurality of vertices including at least the second vertices reconstructed in step S.

304 100 303 In step S, encoding devicecalculates vectors (equivalent to second displacement vectors) that indicate the displacements from the third vertices calculated in step Sto fourth vertices.

305 100 304 In step S, encoding deviceencodes the second displacement vectors calculated in step Sinto the bitstream.

100 100 100 100 100 In this manner, encoding deviceencodes the second displacement vectors indicating the displacements to the fourth vertices from reference points, which are the third vertices indicated by the resultant vectors of a plurality of reconstructed first displacement vectors. Encoding devicecan thus reduce the amount of information in the second displacement vectors in some cases. For example, as compared with the case of using, as the reference points, vertices calculated from a plurality of first vertices included in the base mesh to encode the displacement vectors indicating the displacements to the fourth vertices, the encoding by encoding devicecan decrease the distances from the reference points to the fourth vertices in some cases. The encoding can thus reduce the amount of information in the second displacement vectors in some cases. As a result, encoding devicecan contribute to a reduction in the amount of encoded information, thus enhancing the efficiency of the encoding or decoding process in some cases. As seen from the above, encoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

100 Note that the process by encoding devicecan also be described as follows.

100 100 100 100 53 FIG. 53 FIG. 53 FIG. 53 FIG. 53 FIG. 53 FIG. In other words, encoding deviceencodes, for each of vertices included in a three-dimensional mesh (e.g., P, Q, and R in), displacement data to be used to derive a displacement vector (e.g., AP, BQ, and YR in). Here, the displacement vector indicates a displacement from a first position (e.g., A, B, and Y in) of a vertex generated using a base mesh. The vertices include a first vertex (e.g., R in), a second vertex (e.g., P in), and a third vertex (e.g., Q in), and the displacement data of the first vertex indicates a difference between the displacement vector of the first vertex and a combined vector of the displacement vector of the second vertex and the displacement vector of the third vertex. Thus, encoding devicecan reduce the amount of information in the displacement data on the first vertex in some cases because the displacement data on the first vertex indicates the difference between the displacement vector of the first vertex and the resultant vector of the displacement vector of the second vertex and the displacement vector of the third vertex. As a result, encoding devicecan contribute to a reduction in the amount of encoded information, thus enhancing the efficiency of the encoding or decoding process in some cases. As seen from the above, encoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

200 Hereinafter, details of a process by decoding devicewill be described.

46 FIG. 46 FIG. 35 FIG. 200 204 is a flowchart illustrating a detailed process by decoding device. The process illustrated inis a detailed process included in step Sin.

401 200 100 In step S, decoding devicedecodes first vertices and first displacement vectors from a bitstream. Here, the first vertices are vertices included in a base mesh. The first displacement vectors are vectors indicating displacements from the vertices included in the base mesh (i.e., the first vertices) to vertices that are included in a mesh input into encoding deviceand correspond to the vertices included in the base mesh (i.e., second vertices).

402 200 401 200 401 401 In step S, decoding devicereconstructs the second vertices using the first vertices and first displacement vectors decoded in step S. Specifically, decoding devicedisplaces the first vertices acquired by the decoding in step Susing the first displacement vectors acquired by the decoding in step Sto reconstruct the second vertices.

403 200 402 In step S, decoding devicecalculates third vertices through the interpolation process based on the positions of a plurality of vertices including at least the second vertices reconstructed in step S.

404 200 In step S, decoding devicedecodes second displacement vectors from the bitstream. Here, the second displacement vectors are vectors indicating the displacements from the third vertices to the fourth vertices.

405 200 403 404 In step S, decoding devicedisplaces the third vertices calculated in step Susing the second displacement vectors decoded in step Sto reconstruct the fourth vertices.

406 200 402 405 In step S, decoding devicereconstructs a mesh using at least the second vertices reconstructed in step Sand the fourth vertices reconstructed in step S.

200 200 200 200 200 In this manner, decoding devicedecodes the second displacement vectors indicating the displacements to the fourth vertices from reference points, which are the third vertices indicated by the resultant vectors of a plurality of decoded first displacement vectors. Decoding devicecan thus reduce the amount of information in the second displacement vectors in some cases. For example, as compared with the case of using, as the reference points, vertices calculated from a plurality of first vertices included in the base mesh to decode the displacement vectors indicating the displacements to the fourth vertices, the decoding by decoding devicecan decrease the distances from the reference points to the fourth vertices in some cases. The decoding can thus reduce the amount of information in the second displacement vectors in some cases. As a result, decoding devicecan contribute to a reduction in the amount of encoded information, thus enhancing the efficiency of the encoding or decoding process in some cases. As seen from the above, decoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

200 Note that the process by decoding devicecan also be described as follows.

200 In other words, decoding devicedecodes, for each of vertices (P, Q, R) included in a three-dimensional mesh, displacement data to be used to derive a displacement vector (AP, BQ, YR). Here, the displacement vector indicates a displacement from a first position (A, B, Y) of a vertex generated using a base mesh. The vertices include a first vertex (R), a second vertex (P), and a third vertex (Q).

200 Decoding devicegenerates the displacement vector of the first vertex using the displacement data of the first vertex and a combined vector of the displacement vector of the second vertex and the displacement vector of the third vertex.

200 200 200 In this manner, decoding deviceadds the displacement vector of the second vertex and the displacement vector of the third vertex with equal weights. Decoding devicecan thus generate the resultant vector through an easier computing process, contributing to a reduction in a processing load or a power consumption. As a result, decoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

Hereinafter, the above processes will be described in detail.

47 FIG. 47 FIG. 45 FIG. 46 FIG. 100 302 200 402 is an explanatory diagram illustrating a process of reconstructing second vertices. The process of reconstructing the second vertices illustrated inis a process executed by encoding devicein step S(see) or a process executed by decoding devicein step S(see).

47 FIG. 6001 6002 6001 illustrates meshand meshthat is produced based on mesh.

6001 Meshis an example of the base mesh and includes vertices A, B, C, and D. Vertices A, B, C, and D correspond to first vertices.

6002 1 1 1 1 1 1 1 1 Meshis an example of the original mesh and includes vertices A, B, C, and D. Vertices A, B, C, and Dcorrespond to second vertices.

1 1 1 1 6002 6001 Vertices A, B, C, and Dof meshare generated by displacing vertices A, B, C, and D of meshusing first displacement vectors, respectively.

1 6002 6001 That is, vertex Aof meshis reconstructed by displacing vertex A of meshusing a displacement vector {x1, y1, z1}.

1 6002 6001 Likewise, vertex Bof meshis reconstructed by displacing vertex B of meshusing a displacement vector {x2, y2, z2}.

1 6002 6001 Vertex Cof meshis reconstructed by displacing vertex C of meshusing a displacement vector {x3, y3, z3}.

1 6002 6001 Vertex Dof meshis reconstructed by displacing vertex D of meshusing a displacement vector {x4, y4, z4}.

48 FIG. is an explanatory diagram illustrating a first example of a process of calculating third vertices.

48 FIG. 45 FIG. 46 FIG. 303 403 The process of calculating the third vertices illustrated inis the process executed in step S(see) or step S(see).

48 FIG. 1 1 1 1 1 1 1 1 illustrates vertices S, T, X, Y, and Z in a mesh including vertices A, B, C, and D. Vertices A, B, C, and Dcorrespond to second vertices, and vertices S, T, X, Y, and Z correspond to the third vertices. The positions of the third vertices are calculated through the interpolation process based on the position of a plurality of vertices including at least the second vertices.

48 FIG. 1 1 1 1 1 In, vertex X is calculated through the interpolation process based on at least vertex A. Vertex Y is calculated through the interpolation process based on at least vertex B. Vertex Z is calculated through the interpolation process based on at least vertex C. Vertex S is calculated through the interpolation process based on at least vertex C. Vertex T is calculated through the interpolation process based on at least vertex D.

The interpolation process of calculating the third vertices includes, for example, the subdivision process based on vertices that are displaced from the vertices included in the base mesh. Note that the interpolation process of calculating the third vertices may include the subdivision process based on vertices that are displaced from vertices included in a mesh produced through the subdivision process.

Note that although the above describes the example in which the third vertices are calculated through the interpolation process based on at least the second vertices, the third vertices may be calculated through the interpolation process based on at least first vertices.

In this case, whether the third vertices are calculated through the interpolation process based on the second vertices or the interpolation process based on the first vertices may be determined based on a parameter.

Note that the positions of the first vertices and the positions of the third vertices generated based on the first vertices in the above description may be referred to as vertex positions generated using the base mesh. Although the above has described, by way of example, the case where the interpolation process is used when the positions of the third vertices are derived using the positions of the first vertices, a process other than the interpolation process may be used to derive the positions of the third vertices, or the positions of the third vertices may be derived using another parameter in addition to the positions of the first vertices. Here, as the process other than the interpolation process, another interpolation process such as Lagrange interpolation or spline interpolation may be used.

Although the above has described, by way of example, the case where the positions of the third vertices are each calculated from the positions of two of the first vertices, which are the vertices included in the base mesh, the vertices used in the interpolation process or the other interpolation process need not be the vertices included in the base mesh. For example, the position of another third vertex may be derived through the interpolation process or the other interpolation process using the position of a first vertex, which is a vertex included in the base mesh, and the position of a third vertex generated through the interpolation process or the other interpolation process using first vertices. Likewise, the position of another third vertex may be derived through the interpolation process or the other interpolation process using the positions of two of third vertices generated through the interpolation process or the other interpolation process.

Hereinafter, the storage location of the parameter will be described.

The parameter included in a bitstream may be included in data in the bitstream or may be included in a header in the bitstream.

49 FIG. 50 FIG. andare explanatory diagrams each illustrating an example of the storage location of the parameter.

49 FIG. illustrates an example of a bitstream in which the parameter included in the bitstream is included in data in the bitstream.

50 FIG. illustrates an example of a bitstream in which the parameter included in the bitstream is included in a header in the bitstream.

51 FIG. is an explanatory diagram illustrating a second example of a process of calculating third vertices.

51 FIG. illustrates vertices S, T, X, Y, and Z in a base mesh including vertices A, B, C, and D. Vertices A, B, C, and D correspond to first vertices, and vertices S, T, X, Y, and Z correspond to the third vertices. The positions of the third vertices are calculated through the interpolation process based on the position of a plurality of vertices including at least the first vertices.

51 FIG. In, vertex X is calculated through the interpolation process based on at least vertex A. Vertex Y is calculated through the interpolation process based on at least vertex B. Vertex Z is calculated through the interpolation process based on at least vertex C. Vertex S is calculated through the interpolation process based on at least vertex C. Vertex T is calculated through the interpolation process based on at least vertex D.

Hereinafter, the interpolation process will be described in detail.

52 FIG. 52 FIG. is an explanatory diagram illustrating a first example of the interpolation process. With reference to, a first example of the method of calculating vertex R based on at least the interpolation process will be described.

52 FIG. illustrates vertices A and B included in a base mesh (corresponding to first vertices) and vertices P and Q displaced from vertices A and B, respectively (corresponding to second vertices).

Vertex P is a vertex that is displaced from vertex A using a first displacement vector {x1, y1, z1}. Vertex Q is a vertex that is displaced from vertex B using a first displacement vector {x2, y2, z2}. Note that the relation between a vertex included in the base mesh and a vertex displaced from the vertex using a displacement vector, such as between vertex A and vertex P and between vertex B and vertex Q, may be expressed as the phrase “correspondence relation.”

52 FIG. also illustrates vertex X (corresponding to a third vertex). Vertex X is a vertex that is generated through the subdivision process based on vertices P and Q. More specifically, vertex X is a point generated at the center (i.e., the midpoint) of segment PQ connecting vertices P and Q (in other words, edge PQ).

52 FIG. also illustrates vertex R (corresponding to a fourth vertex). Vertex R is a vertex that is displaced from vertex X using a second displacement vector {x3, y3, z3}.

Note that the first displacement vectors {x1, y1, z1} and {x2, y2, z2}, and the second displacement vector {x3, y3, z3} are encoded into a bitstream.

53 FIG. 53 FIG. is an explanatory diagram illustrating a second example of the interpolation process. With reference to, a second example of the method of calculating vertex R based on at least the interpolation process will be described.

53 FIG. 52 FIG. 53 FIG. illustrates vertices A, B, P, Q, X, and R as in.further illustrates vertex Y.

Vertex Y (corresponding to a fifth vertex) is a vertex that is generated through the subdivision process based on vertices A and B. More specifically, vertex Y is a point generated at the center (i.e., the midpoint) of segment AB connecting vertices A and B (in other words, edge AB).

Vertex R is reconstructed by displacing vertex Y using a third displacement vector {x4, y4, z4}. The third displacement vector {x4, y4, z4} is determined using a prediction vector YX {px, py, pz}.

Here, the prediction vector YX {px, py, pz} is calculated using the vector {x1, y1, z1} and the vector {x2, y2, z2}. For example, the prediction vector YX {px, py, pz} is calculated by averaging the vector {x1, y1, z1} and the vector {x2, y2, z2}. Alternatively, the prediction vector YX {px, py, pz} may be obtained by selecting one of the vector {x1, y1, z1} and the vector {x2, y2, z2}.

Residual vector XR {rx, ry, rz} is calculated by subtracting the prediction vector YX {px, py, pz} from the vector {x4, y4, z4}.

Note that the first displacement vectors {x1, y1, z1} and {x2, y2, z2}, and the residual vector {rx, ry, rz} are encoded into a bitstream.

Hereinafter, the decoding of second displacement vectors will be described.

404 404 46 FIG. 53 FIG. In step S(see), the second displacement vectors are decoded from the bitstream. Note that, in the case where the process described with reference tois used, residual vectors are decoded from the bitstream in step S.

For example, first displacement vectors and either the second displacement vectors or the residual vectors are decoded from the bitstream. The first displacement vectors and either the second displacement vectors or the residual vectors may be encoded as data in an image format or may be encoded as data in a format other than the image format. In the case where the first displacement vectors and either the second displacement vectors or the residual vectors are encoded in the image format, the first displacement vectors and either the second displacement vectors or the residual vectors are acquired from data in the image format decoded by an image decoding device that supports an image codec system used in the encoding. In the case where the first displacement vectors and either the second displacement vectors or the residual vectors are encoded in the format other than the image format, the first displacement vectors and either the second displacement vectors or the residual vectors are acquired by the decoding device decoding the bitstream or a sub-bitstream included in the bitstream.

Here, the first displacement vectors and either the second displacement vectors or the residual vectors each include, for example, at least one component. The component included in the first displacement vectors and either the second displacement vectors or the residual vectors is represented using a global coordinate system such as a Cartesian coordinate system. Note that the first displacement vectors and either the second displacement vectors or the residual vectors may be represented using, for example, a local coordinate system that is provided in point, edge, face, or a predetermined data unit, such as normal, tangent, and bi-tangent. Alternatively, the first displacement vectors and either the second displacement vectors or the residual vectors may each have three components, may be generated to have only one or two components, or may be generated to have three components and then converted to have only one or two components.

Note that the data in the image format generated in such a manner as to arrange the first displacement vectors and either the second displacement vectors or the residual vectors may have, for example, Y, U, and V components or R, G, and B components. The data in the image format generated in such a manner as to arrange the first displacement vectors and either the second displacement vectors or the residual vectors may be encoded in, for example, a YUV420 chroma format or may be encoded in YUV444 chroma format or YUV400 chroma format.

Note that although the first vertices and the second vertices in the above description are, for example, vertices included in a base mesh of a mesh to be encoded, either the first vertices or the second vertices or both the first vertices and the second vertices may be vertices not included in the base mesh. For example, the positions of either the first vertices and the second vertices or both the first vertices and the second vertices may be positions generated from the positions of the vertices included in the base mesh of the mesh to be encoded through a process such as interpolation, interpolation, or extrapolation, or may be positions generated based on the positions of the vertices included in a base mesh of another mesh. The first displacement vector and the second displacement vector may be mapped onto, for example, two tiles included in the data in the image format. The first displacement vector and the second displacement vector may be mapped onto, for example, two slices included in the data in the image format. The first displacement vector and the second displacement vector may be mapped onto, for example, two regions included in the data in the image format. The first displacement vector and the residual vector may be mapped onto, for example, two tiles included in the data in the image format. The first displacement vector and the residual vector may be mapped onto, for example, two slices included in the data in the image format. The first displacement vector and the residual vector may be mapped onto, for example, two regions included in the data in the image format.

Hereinafter, the reconstruction of fourth vertices will be described.

405 46 FIG. In step S(see), the third vertices are displaced using the second displacement vectors to reconstruct the fourth vertices.

54 FIG. is an explanatory diagram illustrating a process of reconstructing the fourth vertices.

54 FIG. 6101 6102 6101 illustrates meshand meshthat is produced based on mesh.

6101 1 1 1 1 1 1 1 1 Meshincludes vertices A, B, C, and Dand vertices S, T, X, Y, and Z. Vertices A, B, C, and Dcorrespond to second vertices. Vertices S, T, X, Y, and Z correspond to the third vertices.

6102 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 6101 1 1 1 1 1 Meshincludes vertices A, B, C, and Dand vertices S, T, X, Y, and Z. Vertices A, B, C, and Dare the same as vertices A, B, C, and Din mesh. Vertices S, T, X, Y, and Zcorrespond to the fourth vertices.

6102 6101 The fourth vertices in meshare reconstructed by displacing the third vertices in meshusing the second displacement vectors.

1 6102 6101 1 6102 6101 That is, vertex Xof meshis reconstructed by displacing vertex X of meshusing a displacement vector {x5, y5, z5}. Likewise, vertex Yof meshis reconstructed by displacing vertex Y of meshusing a displacement vector {x6, y6, z6}.

1 6102 6101 Vertex Zof meshis reconstructed by displacing vertex Z of meshusing a displacement vector {x7, y7, z7}.

1 6102 6101 1 6102 6101 Vertex Sof meshis reconstructed by displacing vertex S of meshusing a displacement vector {x8, y8, z8}. Vertex Tof meshis reconstructed by displacing vertex T of meshusing a displacement vector {x9, y9, z9}.

406 46 FIG. Hereinafter, the reconstruction of a mesh will be described. In step S(see), the mesh is reconstructed using at least the second vertices and the fourth vertices. As an example, a process of reconstructing the mesh including a process of applying texture to faces formed with vertices.

55 FIG. is an explanatory diagram illustrating an example of a reconstructed mesh.

55 FIG. 55 FIG. 1 1 1 1 1 1 1 1 1 The reconstructed mesh illustrated inincludes vertices A, B, C, and Dand vertices S, T, X, Y, and Z. In the reconstructed mesh illustrated in, texture is applied to its faces formed with the vertices.

Hereinafter, another example of the interpolation process will be described in detail.

52 FIG. 100 100 100 100 In the above first example of the interpolation process (see), the case where vertex X (corresponding to a third vertex) is the midpoint of segment PQ is described as an example. In the example, encoding deviceadds the plurality of reconstructed first displacement vectors with the equal weights to generate the resultant vector and encodes the second displacement vectors using the generated resultant vector. In this manner, encoding deviceadds the plurality of reconstructed first displacement vectors with equal weights. Encoding devicecan thus generate the resultant vector through an easier computing process, contributing to a reduction in a processing load or a power consumption. As a result, encoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

200 200 200 200 In the above case, decoding deviceadds the plurality of reconstructed first displacement vectors with the equal weights to generate the resultant vector and encodes the second displacement vectors using the generated resultant vector. In this manner, decoding deviceadds the plurality of reconstructed first displacement vectors with equal weights. Decoding devicecan thus generate the resultant vector through an easier computing process, contributing to a reduction in a processing load or a power consumption. As a result, decoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

100 100 100 However, vertex X is not limited to the midpoint of segment PQ. That is, the ratio PX:QX between segment PX and segment QX is not limited to 1:1 and may be another ratio. In other words, encoding devicemay add the plurality of reconstructed first displacement vectors with different weights to generate the resultant vector and may encode the second displacement vectors using the generated resultant vector. In this manner, encoding devicecan generate the resultant vector more appropriately in some cases by adding the plurality of reconstructed first displacement vectors with the different weights. For example, the weights for the plurality of first displacement vectors can be appropriately set according to parameters of the encoding process. In this case, the resultant vector may be appropriately generated according to the parameters of the encoding process. This can contribute to an improvement in the encoding or decoding process. As a result, encoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

200 200 200 In the above case, decoding devicemay add the plurality of reconstructed first displacement vectors with different weights to generate the resultant vector and may encode the second displacement vectors using the generated resultant vector. In this manner, decoding devicecan generate the resultant vector more appropriately in some cases by adding the plurality of reconstructed first displacement vectors with the different weights. For example, the weights for the plurality of first displacement vectors can be appropriately set according to parameters of the encoding process. In this case, the resultant vector may be appropriately generated according to the parameters of the encoding process. This can contribute to an improvement in the encoding or decoding process. As a result, decoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

56 FIG. is an explanatory diagram illustrating a third example of the interpolation process.

When PX:QX=1:2, The ratio PX:QX between segment PX and segment QX may be changed in accordance with the position of vertex Y that is inserted in the subdivision of a mesh. For example, in the case where segment AB is trisected in the subdivision process, PX: QX may be set to be 1:2 or 2:1 in accordance with the position of vertex Y on segment AB. In this case, prediction vector YX for vector YR is determined according to (Equation 1) and (Equation 2) shown below.

When PX:QX=2:1,

100 100 100 In this manner, encoding devicecan obtain, from two second vertices, vertex Y (i.e., a third vertex) positioned on the segment connecting the two second vertices using two first displacement vectors. In this manner, encoding devicecan reduce the amount of information in the second displacement vector more easily in some cases by using the third vertex that is set on the segment connecting the two second vertices, as a reference point. As a result, encoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

200 200 200 In the above case, for two second vertices, decoding devicecan obtain, from two second vertices, vertex Y (i.e., the third vertex) positioned on the segment connecting the two second vertices using two first displacement vectors. In this manner, decoding devicecan reduce the amount of information in the second displacement vector more easily in some cases by using the third vertex that is set on the segment connecting the two second vertices, as a reference point. As a result, decoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

57 FIG. is an explanatory diagram illustrating a fourth example of the interpolation process.

The position of vertex Y generated between segment AB can be determined using not only vertices A and B but also a plurality of vertices that are linked in the neighborhood of vertex Y.

For example, in the case where the position of vertex Y is determined also using the plurality of vertices linked in the neighborhood, weighted averages of a set of coordinates of eight vertices A, B, C, D, E, F, G, and H that are linked in the neighborhood of vertex Y can be determined as the coordinates of vertex Y.

In this case, prediction vector YX of vector YR may be determined according to (Equation 3) shown below, where AY: BY is regarded as PX:QX. Here, assume AY: BY=wa:wb. wa or wb is a weighting coefficient indicating a weight used for the calculation of prediction vector YX and may be any numerical value, greater than zero or less than zero.

Note that although the division by 3 or (wa+wb) is performed for the weighted averaging in the above equations, scaling parameter k may be multiplied as in (Equation 4) shown below instead of the division by 3 or (wa+wb).

100 200 Scaling parameter k may be notified from encoding deviceto decoding deviceas an adjustment parameter on a per-sequence, per-frame, or per-submesh basis.

Here, the value of scaling parameter k may be 1/(wa+wb) or may be a value different from (wa+wb). In the case where the value of scaling parameter k is 1/(wa+wb), the total of the weights is 1, and point X is positioned on the line passing through point P and point Q. In the case where the value of scaling parameter k is a value different from 1/(wa+wb), the total of the weights is not 1, and point X is not positioned on the line passing through point P and point Q.

100 200 Note that although the above description includes the determination of the ratio between PX and QX, the method of calculating prediction vector YX using vector AP and vector BQ is not limited to this. For example, encoding deviceor decoding devicemay calculate weighting coefficient wb by which vector AP is to be multiplied and weighting coefficient wa by which vector BQ is to be multiplied based on the ratio between AY (the distance between vertex A and vertex Y) and BY (the distance between vertex B and vertex Y).

100 200 Encoding deviceor decoding devicemay use a parameter different from a distance between vertices (e.g., the magnitudes of displacement vectors AP and BQ or any parameter of another decoded frame, etc.) to calculate weighting coefficients wb and wa.

As seen from the above, the encoding and decoding methods described in the present disclosure may calculate weighting coefficients wb and wa using information including the positions of or connectivity relation among encoded or decoded vertices or using a displacement vector. This may make it possible to enhance the accuracy of estimating prediction vector YX and enhance encoding efficiency.

57 FIG. Note that the third vertex may be positioned at a position not on the segment connecting any two second vertices selected from among a plurality of second vertices. For example, in the case of performing a subdivision using a plurality of vertices A to H linked in the neighborhood of vertex Y, vertex Y need not be positioned on the segment connecting any two of the plurality of vertices A to H, as with vertex Y illustrated in. In other words, vertex Y may be positioned not on the segment connecting any two of the plurality of vertices A to H.

100 200 100 200 In this manner, encoding deviceor decoding devicecan further reduce the amount of information in the second displacement vector in some cases by using the third vertex that is set at a position not on the segment connecting any two second vertices of the plurality of second vertices, as a reference point. As a result, encoding deviceor decoding deviceis capable of improving an encoding or decoding process related to three-dimensional data.

100 200 100 200 Although the aspects of encoding deviceand decoding devicehave thus far been described according to the embodiment, the aspects of encoding deviceand decoding deviceare not limited to the embodiment. Modifications that may be conceived by a person skilled in the art may be applied to the embodiment, and a plurality of constituent elements in the embodiment may be combined in any manner.

For example, processing performed by a specific constituent element in the embodiment may be performed by a different constituent element instead of the specific constituent element. Moreover, the order of processes may be changed or processes may be performed in parallel.

200 Moreover, as stated above, it is possible to implement, as an integrated circuit, at least part of the plurality of constituent elements in the present disclosure. At least part of the processes in the present disclosure may be used as an encoding method or a decoding method. A program for causing a computer to execute the encoding method or the decoding method may be used. Furthermore, a non-transitory computer-readable recording medium on which the program is recorded may be used. In addition, a bitstream for causing decoding deviceto perform decoding may be used.

Moreover, at least part of the plurality of constituent elements and the processes in the present disclosure may be used as a transmitting device, a receiving device, a transmitting method, and a receiving method. A program for causing a computer to execute the transmitting method or the receiving method may be used. Furthermore, a non-transitory computer-readable recording medium on which the program is recorded may be used.

The present disclosure is useful in, for example, an encoding device, a decoding device, a transmitting device, a receiving device, and the like related to a three-dimensional mesh and can be applied to a computer graphics system, a three-dimensional data display system, and the like.